Robust adaptive fuzzy sliding mode synchronous control for a planar redundantly actuated parallel manipulator

Redundantly actuated parallel mechanisms could modify the deficiency of full parallel mechanisms. To achieve better trajectory tracking, a new sliding mode synchronous control with fuzzy inference mechanism is proposed. Based on Kane equation, a planar 2-DOF redundantly actuated parallel mechanism´s dynamics model is formulated and detailed. With trajectory contour error, the synchronization error is defined and the sliding surface is determined. For parameters in switching surface, a fuzzy inference mechanism is used to find optimal values. After dynamic equation linearization, a robust adaptive fuzzy sliding mode synchronous controller is designed with a stability analysis. Matlab simulation results show that the proposed controller can be able to achieve better trajectory tracking compared with general computed torque controller.