Van-Truong Nguyen*
CMC-Computers, Materials & Continua, Vol.74, No.2, pp. 2771-2787, 2023, DOI:10.32604/cmc.2023.033460
Abstract 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… More >
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