Part of #Fuzzy Adaptive Terminal Sliding Mode Controller for 6-dof Parallel Manipulator With Nonlinear Uncertainties# :
Publishing year : 2014
Conference : 6th Iranian Conference on Electrical and Electronic Engineering
Number of pages : 9
Abstract: The complex dynamics, nonlinearities, external perturbations and parametric uncertainties of parallel manipulator are great challenges from the aspect of controller design. Due to these problems, we have employed a controller that does not require a precise model of plant, and is also 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 a 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 plant unknown unknown functions so that closed-loop stability and finite-time convergence of tracking errors can be guaranteed. Simulation results confirm that the employed control strategy can achieve a favorable control performance in relation to variations of the system parameters and external disturbances.