Neural-adaptive sliding mode control of 4-SPS(PS) type parallel manipulator

This paper presents a neural-adaptive sliding mode control for the tracking control of 4-SPS(PS) type parallel manipulator. The neural-adaptive controller is introduced to modify the coefficients of sliding manifold in sliding control strategy, which solve the problem that the equivalent control can not be obtained accurately because of the uncertain and fixed coefficients of sliding manifold and external disturbances of the system. So the controller can be designed without depend on fixed sliding manifold as general design method. Accordingly, it can be more effectively to solve the chattering in sliding mode control. The nonlinear controller, which guarantees the stability of the proposed control system based on Lyapunov stability theory, is also developed. Simulation results show that the control approach can decrease the tracking error, enhance the system's robustness and restrain the chattering effectively in the sliding mode control.

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