Decentralized robust nonlinear control for six-degrees-of-freedom parallel robots
六自由度并联机器人分散鲁棒非线性控制

A new decentralized robust nonlinear control approach is proposed for the six-degrees-of-freedom parallel robot. In comparison with the propotional-differential (PD) and existing robust nonlinear control schemes, the proposed approach shows the strong terminal convergence ability in addition to the advantages of the existing robust nonlinear control scheme. This approach guarantees faster convergence and higher tracking precision than the existing ones. By selecting appropriate parameters of the controller, the residual set will approach to zero. The stabilized conditions and corresponding proof are also presented. Simulation results are demonstrated in support of the proposed control scheme.