Fuzzy Adaptive Terminal Sliding Mode Controller for 6-dof Parallel Manipulator With Nonlinear Uncertainties

the complex dynamics, nonlinearities, external perturbations and parametric uncertainties of parallel manipulator are great challenges from the aspect of controller design. Due to this problems, we employed controller that do not require an accurate model of plant, and also is robust against uncertainties and external disturbances. This paper proposes the use of a fuzzy adaptive terminal sliding mode controller (FATSMC) in Cartesian space Coordinates for trajectory tracking of 6-dof parallel manipulator. This controller consists of a continuous non-singular terminal sliding mode control and adaptive learning algorithms and fuzzy logic systems to estimate the plant’s unknown nonlinear functions so that closed-loop stability and finite-time convergence of tracking errors can be guaranteed. Simulation results verify that the employed control strategy can achieve favorable control performance with regard to system parameter variations and external disturbances.

کلیدواژه ها:

Adaptive control ، Terminal sliding mode ، Fuzzy logic control ، 6-dof parallel manipulator