@inproceedings{4ef13e5300b14b43a04b8f11592fed4e,
title = "Trajectory tracking control for a novel spherical motion generator based on augmented nonlinear PD controller",
abstract = "This study presents a robust augmented nonlinear proportional derivative control (ANPD) strategy to solve the trajectory tracking problem for the spherical motion generator (SMG). The dynamic model of SMG obtained by Lagrange-Euler formalism is obviously a multi-variable nonlinear system with external disturbances, which will inevitably affect the precision of the control system. In the ANPD controller's framework, there exist three compensation items comprised of dynamics compensation term, disturbance compensation term and nonlinear error elimination term. The ANPD control algorithm aims at offsetting the effects of external perturbations and realizing accurate control. To illustrate the effectiveness of the proposed control algorithm, simulation model is formulated in Matlab/Slimulink. The results show that the proposed control algorithm has better competence of trajectory tracking in the presence of uncertainties.",
keywords = "Augmented nonlinear proportional derivative control, Dynamic model, Simulation model, Spherical motion generator, Trajectory tracking",
author = "Weihai Chen and Lu Liu and Jingmeng Liu and Xingming Wu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 ; Conference date: 19-06-2019 Through 21-06-2019",
year = "2019",
month = jun,
doi = "10.1109/ICIEA.2019.8834048",
language = "英语",
series = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "684--689",
booktitle = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",
address = "美国",
}