Robust adaptive fuzzy sliding mode synchronous control for a planar redundantly actuated parallel manipulator

摘要

Redundantly actuated parallel mechanisms could modify the deficiency of full parallel mechanisms. To achieve better trajectory tracking, a new sliding mode synchronous control with fuzzy inference mechanism is proposed. Based on Kane equation, a planar 2-DOF redundantly actuated parallel mechanism's dynamics model is formulated and detailed. With trajectory contour error, the synchronization error is defined and the sliding surface is determined. For parameters in switching surface, a fuzzy inference mechanism is used to find optimal values. After dynamic equation linearization, a robust adaptive fuzzy sliding mode synchronous controller is designed with a stability analysis. Matlab simulation results show that the proposed controller can be able to achieve better trajectory tracking compared with general computed torque controller.