Sliding Mode-Iterative Learning Control Applied to DELTA Parallel Robot

R. Yakhlef and M. Hamerlain (Algeria)


SMC, ILC, SMILC, Parallel robot, Chattering, Sliding mode.


In this paper, we proposes a diagram of control based on sliding mode theory (SMC) and iterative learning control (ILC) applied to DELTA parallel robot, this kind of systems is dedicated generally for executing repetitive tasks witch require high level of precision and rapidity. Principle of the proposal method consists in replacing discontinuous term of the SMC by another, which is a function of the sliding surface and its derivative, and which will be evaluated by using an iterative learning algorithm, Advantage of this method is the improvement of control performance each time the system execute the task again; At the and we show simulations results, and comments there.

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