An intelligent fuzzy sliding mode control for parallel robot

Abstract

An intelligent fuzzy sliding mode control for 2-DOF parallel robot which derived by AC servo motor was designed. First,a dynamic sliding mode surface was designed to avoid the phase of inclining to the sliding mode surface and guarantee of global robustness as the state lied on the sliding mode surface from any arbitray initial state. Then ,an intelligent fuzzy controller was used to bring output instead of the switch output of the sliding mode control .the result of the simulation indicates that the method not only improves the global robustness performance ,but also reduces the system chatter efficiatly.