Nonlinearities Output-Feedback Adaptive Nonsingular Fast Terminal Sliding Mode Control for Redundant Parallel Manipulators

摘要

This paper offers a new novel for finite-time tracking controller of redundant parallel robots in the case of high-speed motions by proposing the hybrid of the nonlinearities output-feedback (NOF) and adaptive nonsingular fast terminal sliding mode controller (NFTSMC). Motivated by the NOF and NFTSMC, the proposed approach enhances the traditional NFTSMC. The proposed control has several advantages such as convergence faster to the finite-time stable equilibrium, rapid response, and high level of precision. Furthermore, based on the hybrid scheme of NOF and NFTSMC, the proposed control scheme shows the superior performance of tracking control and uncertainties rejection ability compared to standard NFTSMC. Finally, as evident from the simulation results, it could be seen that the merits of the suggested solution outweigh existing measurements.