Design, kinematic modeling and sliding mode control with sliding mode observer of a novel 3-PRR compliant mechanism

Merve Acer*, Asif Şabanoviç

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Compliant mechanisms have great advantages to be used as micropositioning stages for high-precision applications but they are very sensitive to manufacturing tolerances and assembling errors. In this work, a novel compliant stage having 3-PRR kinematic structure and actuated by piezoelectric actuators is introduced. A kinematic modeling based on compliance of the flexible elements and finite element analysis based model have been extracted. It is found out that the experimental results are not compatible with the theoretical results due to the manufacturing, actuator assembly errors. The position control of the mechanism has been achieved using sliding mode control which is a great method for unpredictable varying parameters in the system. Sliding mode observer has also been used for the hysteresis and nonlinearities of the piezoelectric actuators. Experimental models for each actuation axis have been used as the nominal models for the sliding mode observer. In order to see the advantage of the control method simple PID control has also been implemented. It is seen that sliding mode control with sliding mode observer using experimental models reduces the position tracking errors to the range of the accuracy of our available measurement.

Original languageEnglish
Pages (from-to)1228-1242
Number of pages15
JournalAdvanced Robotics
Issue number17-18
Publication statusPublished - 16 Sept 2016

Bibliographical note

Publisher Copyright:
© 2016 Taylor & Francis and The Robotics Society of Japan.


  • Compliant mechanism
  • disturbance observer
  • flexure
  • piezoelectric actuator
  • sliding mode control


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