Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

摘要

The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.