Chattering Elimination with Fuzzy Sliding Mode Control in Parallel Robots

Accuracy of tracking and robustness are very important specifications in control of parallel robots. Classical control methods could not satisfy these requirements in parallel robots, simultaneously. Sliding mode control solves problems of accurate tracking, but it is not robust enough because of influence of chattering phenomena. Implementation of fuzzy logic in sliding mode enhances robustness. In this paper, by use of dynamic model of Delta parallel robot and considering uncertainty with dynamic parameters, the fuzzy sliding mode control is applied to this parallel robot. Simulation results and comparison of them with sliding mode control results show the advantages of applying fuzzy logic in control methods.

کلیدواژه ها:

parallel robot ، fuzzy logic ، sliding mode control ، chattering phenomena