Van-Truong Nguyen*
CMC-Computers, Materials & Continua, Vol.74, No.2, pp. 2771-2787, 2023, DOI:10.32604/cmc.2023.033460
Abstract In this paper, a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances. The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism, tracking differentiator, and nonsingular fast terminal sliding mode control (NFTSMC). Based on the online non-negative adaptive mechanism, the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers. The proposed controller has More >
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