Distributed collaborative control to pose tracking for six-DOF parallel mechanism under multi-cylinder communication.

Abstract

Determining how to enhance performance of pose tracking in internal uncertainties, external disturbances, and the mutual interference among actuators is a promising research topic for six-degree-of-freedom (DOF) parallel mechanism. To address these challenges, this study introduces a collaborative pose tracking control strategy that integrates third-order active disturbance rejection control (ADRC) for a single actuator and multi-agent consensus control for multiple actuators. Solved the problem of reduced pose tracking accuracy caused by internal modeling uncertainty of actuators, external interference, and mutual interference between actuators. And the stability of this control approach is theoretically proven. Subsequently, the control strategy is implemented on a six-DOF parallel mechanism for comprehensive simulation and experimental. Simulation and experimental results show that compared with using an ADRC to regulate a single actuator, the proposed control strategy reduces position and attitude errors by about 90%, verifying the effectiveness of the control strategy proposed in this paper.