| Popis: |
This paper proposes a novel robust proportional derivative adaptive non-singular synergetic control (PDATS) for the delta robot system. A proposal radial basis function approximation neural networks (RBF) compensates for external disturbances and uncertainty parameters. To counteract the chattering noise of the low-resolution encoder, a second-order sliding mode (SOSM) observer in the feedback loop showed the ability to obtain the angular velocity estimations. The stability of the PDATS approach is proven using the Lyapunov stability theory. Both the simulation and experiment result effectiveness and performances of the PDATS controller in trajectory; pick and place operations of a parallel delta robot. The characteristics of the controller demonstrate that the proposed method can effectively reduce external disturbance and uncertainty parameters of the robot by a convergent finite-time, and provide higher accuracy in comparison with finite-time synergetic control and PD control. |
