A finite-time nonlinear PID set-point controller for a parallel manipulator

Abstract

In recent years, finite-time controllers have attracted attention from some researchers in control, who have formulated applications to several processes and systems, including serial robotic manipulators. In this work, we report the application of a finite-time nonlinear PID controller to a Five-Bar Mechanism, which is a parallel manipulator, for set-point controller. The stability analysis of the closed-loop system shows global finite-time stability of the system. The dynamic model of the Five-Bar Mechanism developed in this work is a so-called reduced model, which has a structure similar to a serial robot. Moreover, the results of the numerical simulations carried out confirm the usefulness of the proposed application. The contribution of this work is to show the feasibility of the application of a finite-time nonlinear controller to a Five-Bar Mechanism and the usefulness of the proposed approach by numerical simulations.