Adaptive NN Sliding Mode Control Method of 3-RRRT Parallel Robot

A direct adaptive NN sliding mode control method for a 3-RRRT parallel robot was researched. According to its system dynamics model character, and on the base of Lyapunov’s stability theory and method, combined RBF NN with adaptive technology, a system controller was put forward, and then control system numerical simulation was completed using Matlab software platform, and the simulation results show that in case of periodic interferential signal, the 3-RRRT parallel robot attains higher tracking precision using the adaptive NN sliding mode control method, its closed-loop system reveals great adaptability and robust stability.