RISE-Based Computed-Torque Control for trajectory tracking of parallel robot

Abstract

In this work, RISE-Based Computed-Torque Controller (RCTC) is developed and is applied for a 4 DOF Parallel Kinematic Manipulator (PKM) called - VELOCE -. The proposed controller is designed by adding a Robust Integral of the Sign of the Error (RISE) control term. The main motivation behind the proposed control idea is to improve the tracking performances in terms of accuracy and disturbances rejection. Comparing with the original Computed-torque Controller, simulation results show the effectiveness of the proposed controller in improving the tracking performances of the VELOCE robot.