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

Van-Truong Nguyen*

Department of Mechatronics Engineering, Hanoi University of Industry, Hanoi, 159999, Vietnam

* Corresponding Author: Van-Truong Nguyen. Email: email

Computers, Materials & Continua 2023, 74(2), 2771-2787.


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.


Cite This Article

V. Nguyen, "Non-negative adaptive mechanism-based sliding mode control for parallel manipulators with uncertainties," Computers, Materials & Continua, vol. 74, no.2, pp. 2771–2787, 2023.

cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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