Robust non-singular fast terminal sliding mode control of the spatial parallel robot

摘要

This paper discusses, a robust nonsingular fast terminal sliding mode (NFTSM) control for a parallel robot PAR4 is developed with known or unknown upper bound of the system uncertainty. The proposed controller takes the benefit of the NSFTSM to Avoid singularities and confirm a rapid convergence. A NSFTSM control is proposed which offers strong robustness against uncertainties. The convergence and stability of the suggested technique are confirmed by the Lyapunov stability analysis. The simulation results are described to illustrate the efficacy of the suggested control -scheme.