Discrete Sliding Mode Control for a Parallel Robot

Abstract

A new discrete sliding mode control approach for parallel robot is presented to achieve accurate servo tracking in the presence of load variations, parameter variations and nonlinear dynamic interactions. A procedure based on predictive error is proposed to improve the traditional reaching law, which can guarantee the desired properties. The simulation results show that the proposed approach can improve the dynamics and the chatter that is inherent to the sliding mode control system is weakened