Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties  

作　　者：Van-Truong Nguyen 

机构地区：[1]Department of Mechatronics Engineering,Hanoi University of Industry,Hanoi,159999,Vietnam

出　　处：《Computers, Materials & Continua》2023年第2期2771-2787,共17页计算机、材料和连续体（英文）

基　　金：the Vietnam National Foundation for Science and Technology Development(NAFOSTED);Vietnam under Grant No.(107.01-2019.311).

摘　　要：In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method.

关 键 词：Parallel manipulator uncertainties and disturbances nonsingular fast terminal sliding mode control non-negative adaptive mechanism tracking differentiator 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]