Robust and adaptive control of a parallel robot using feedback linearization

Abstract

In this paper a parallel robot is considered. The dynamical equations of the system are obtained. The dynamical equations of the system are given by three nonlinear and coupled differential equations. If we have a good model the system can be linearized and decoupled by using feedback linearization. In this case the linear methods can be used. A robust and adaptive control method has been proposed. This method gives a better performance than only robust and only adaptive methods. We have a good performance even if the dynamics of the system changes , for example when the mass of the load changes. This method can be used for many dynamical systems. The method is applied to a parallel robot. A good performance is obtained. Simulation results are given.