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Journal of Control Science and Engineering
Volume 2019, Article ID 7689673, 11 pages
Research Article

Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Control and Systems Engineering Department, University of Technology, Baghdad, Iraq

Correspondence should be addressed to Amjad J. Humaidi; qi.ude.ygolonhcetou@611106

Received 7 March 2019; Accepted 9 May 2019; Published 1 July 2019

Guest Editor: Wei Zhang

Copyright © 2019 Amjad J. Humaidi and Ahmed Ibraheem Abdulkareem. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy. The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.