A Novel Adaptive Terminal Sliding Mode Control of PKMs: Design and Real-Time Experiments

This paper presents a new adaptive controller based on terminal sliding mode (TSM) control for parallel manipulators. More precisely, the proposed controller is based on a finite-time continuous TSM control scheme. To improve the tracking performance of parallel manipulators, a novel adaptive TSM control scheme is proposed in this paper. Based on the linear-in-the-parameters property of the dynamic model of rigid mechanical manipulators, an adaptive law is proposed to adjust the dynamic parameters of the manipulator in real-time. The proposed controller has the advantages of relying on the desired trajectories instead of measured ones which improves its robustness and efficiency. To demonstrate the effectiveness of the proposed controller, real-time experiments are conducted on a four degree-of-freedom (4-DOF) parallel manipulator called Veloce.

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