Nonlinear Adaptive Control Approach for Parallel Manipulator Based on Lyapunov Method

A new nonlinear adaptive control approach is proposed for the redundantly actuated parallel manipulators. In comparison with the existing adaptive control schemes, the parameterization expression of the model parameters is not needed in the proposed approach according to the properties of the parameters in the inertia matrix, and the design of adaptive controller can be simplified considerably because of the estimated parameters reduction. The stabilized conditions and corresponding proof are also presented, and the globally asymptotical stability of the end-effector position is guaranteed. Simulation results are demonstrated in support of the proposed control scheme. Copyright © 2014 IFSA Publishing, S. L.