Sliding Mode Control for a Novel 3-DOF Parallel Mechanism

This paper addresses a sliding mode control scheme based on weighted integral gain reaching for a novel 3-DOF redundantly actuated parallel mechanism to implement accuracy motion tracking control. The sliding control scheme is designed with consideration of varying uncertain parameters and external disturbances to guarantee system robustness. Using Lyapunov stability theory, the closed-loop system is proved to be stable and convergence properties of the system is assured. The effectiveness and robustness of the sliding mode control scheme based on weighed integral gain reaching law is tested via a rigorous simulation study and the results clearly show that the proposed scheme provides a much superior trajectory tracking capability compared to the conventional controller.