WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 19, 2024
Modeling and Control of a Coaxial Parallel Spherical Mechanism
Authors: , ,
Abstract: This paper presents a method for modeling and controlling a coaxial parallel spherical mechanism. This mechanism consists of elements connected to allow them to move relative to each other in a parallel and coaxial manner, forming a spherical structure capable of rotating and moving in multiple directions. The operation of the mechanism is controlled by a high-order sliding controller to improve control performance, reduce chattering phenomena, and mitigate disturbances during operation. The system’s stability using the suggested control approach is demonstrated and analyzed in detail through experimental validation on a real-time controller, TMS320F28379D.
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Keywords: Coaxial parallel spherical mechanism, high-order sliding control, system modeling, chattering phenomenon, real-time controller, balance control
Pages: 368-372
DOI: 10.37394/23203.2024.19.39