シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2017/05
形態種別	国際会議論文
査読	査読あり
標題	Decoupling Control for Parallel Robot Based on Equivalent-Input-Disturbance Approach
執筆形態	共著
掲載誌名	The 29th Chinese Control and Decision Conference (CCDC 2017)
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.4969-4974
担当範囲	ALL
著者・共著者	Pingping Lin, Jinhua She, Min Wu, and Qianqiu Li
概要	This paper discusses the problem of posture control for a parallel robot. The parallel robot features multiple variables and large nonlinearities. The control accuracy is strongly affected by the parameters which are coupled with each other, and by exogenous disturbances. A decoupling control strategy is presented based on the equivalent-input-disturbance (EID) approach to improve control performance. First, decoupling control is used to eliminate the main coupling effect between multiple variables. Then, the EID method is used to further improve decoupling effect and suppress the external disturbances. Simulation results show that the control strategy is effective for the decoupling control of parallel robot.
外部リンクURL	http://ieeexplore.ieee.org/document/7979362/