Fuzzy Adaptive Synchronized Sliding Mode Control Of Parallel Manipulators

Abstract

Control of parallel manipulators is a challenging and difficult task. In this paper, we propose a new adaptive synchronized sliding mode controller for planar parallel manipulators by using fuzzy logic system. The proposed controller is based on the combination of the definition of synchronized control, sliding mode control and online self-tuning fuzzy logic system. Firstly, the dynamic model of parallel manipulators is presented in active joint space. Based on this dynamic model, a synchronized sliding mode controller is developed. And then, in order to compensate the uncertainties of the control system, an online self-tuned fuzzy logic system is adopted. The self-tuning law is proposed by using the cross-coupling error of the parallel manipulator. The stability of the closed loop system is guaranteed by using Lyapunov theory. The simulations were conducted on Matlab/Simulink to verify the effectively of the proposed control algorithm.