Proxy-based sliding mode control on platform of 3 degree of freedom (3-DOF)

摘要

Proxy-based sliding mode control, created by Ryo Kikuuwe and Hideo Fujimoto, combines the advantages of sliding mode control and proportional integral derivative controller. This paper implements this control algorithm on a platform of 3 degrees of freedom (3-DOF) driven by electropneumatic actuators with proportional flow valves. This paper presents an extension of proxy-based sliding mode control. This time it is implemented on a parallel robot. Despite the robot being a coupled system, is reached a perfect decoupled control. The simulations in MSC-ADAMS and experimental results demonstrate good tracking.