New Terminal Sliding Mode Control of the Parallel robot Par4

摘要

Sliding Mode Control is used for all types of system essentially nonlinear, quick and precise manipulators. The main idea of this control is to derive and maintain the system trajectory on a sliding surface designed a priory. It forces the imputation currents to follow the desired values. In this paper a new switching surface function is proposed to the sliding mode control. Thus, a new terminal sliding mode control (NTSMC) will be obtained to control a non linear, very quick and precise robot Par4. This robot is a parallel manipulator with four degree of freedom: three translations and one rotation. It is a very robust, stable and accurate robot used essentially in the pick and place. The stability of this control is verified using the Lyapunov theory. The performance and feasibility of the presented NTSMC are verified by simulation results from MATLAB/SIMULINK. The simulation results show that the NTSMC have a superior performances in terms of stability and accuracy.