A Diagonal Recurrent CMAC Model Reference Adaptive Control for Parallel Manipulators Trajectory Tracking

Authors:
Jie Zhao;Yubin Liu;Yonggang Yang
Affiliations:
Harbin Institute of Technology, China;Harbin Institute of Technology, China;Harbin Institute of Technology, China
Venue:
ISDA '06 Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications - Volume 02
Year:
2006

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Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy

International Journal of Automation and Computing

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Abstract

A method for a model reference adaptive control structure using a diagonal recurrent cerebellar model articulation controller (DRCMAC) is proposed to control the parallel manipulators. In order to achieve high-precision position control and guarantee the convergence of tracking error, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning-rate parameters of the DRCMAC. The good stability and accuracy can be obtained because of the powerful on-line learning capability of the DRCMAC. Finally, the effectiveness of the proposed control method is verified by simulation results in the presence of 6- PRRS parallel manipulators.