Discrete sliding mode control with fuzzy adaptive reaching law on 6-PRRS parallel robot

Applying distributed control strategy, a discrete sliding mode controller (DSMC) with fuzzy adaptive reaching law is proposed to tracking the trajectory of 6-PRRS parallel robot. The detailed design procedure of the DSMC system with fuzzy adaptive reaching law is presented. The disturbances prediction, which guarantees the stability of the control system, is developed In order to attenuate the chattering phenomena, reaching law is actively tuned according fuzzy rule. Simulation study has been carried out to evaluate the performance of the proposed controller, and the results showed that the proposed controller has achieved a performance with minimum reaching time and smooth control actions. In addition, the results have also proven the effectiveness and robustness of the trajectory tracking of parallel robot characterized under disturbances and parameter uncertainties