The application of the adaptive sliding mode control with an integral-operation switching surface in the Parallel Robot

A sliding mode controller with an integral-operation switching surface for 2- DOF parallel robot, which is derived by AC servo motors, is designed in this paper. Firstly, the variable structure controller with an integral operation switching surface is proposed to make the system of the parallel robot possess the properties of the insensitivity to the uncertainties and external disturbance. Next, the adaptive law is designed to achieve the online identify estimation of the system uncertainties of the parallel robot. Simulation results show that, by adopting the proposed control method in the parallel robot control system, the chattering of the conventional sliding mode control is alleviated, the practicability of the control system is improved through adjusting the controller's parameters timely in terms of the identified results and the control system has a perfect robust performance.