Synchronization Sliding Mode Control Scheme with Time Delay Estimation for the 4-DOF Parallel Manipulator

Abstract

This paper proposes the synchronization sliding mode control (SSMC) using a Time-Delay Estimation (TDE) for the 4-DOF parallel manipulator against uncertainties. The 4-DOF parallel robot is a closed-chain kinematics structure that leads to the constraint of the geometry. Therefore, the SSMC for the parallel robot is proposed, which guarantees convergence of the joint position. Additionally, TDE is combined with SSMC to estimate uncertainties in dynamic robots such as unknown dynamic, external force and friction force. Despite the 4-DOF parallel manipulator being a free model, the proposed control provides high accuracy and robustness against uncertainties. Finally, some simulations are conducted on Matlab/Simulink, and the performance of the proposed control is demonstrated through a comparison of simulated results with those obtained from other controllers.