The design of sliding mode controller with perturbation observer for a 6-DOF parallel manipulator

This study proposes the sliding mode controller with perturbation observer for a 6-DOF parallel manipulator in the presence of nonlinear and uncertainty terms. The controller is based on a Lyapunov approach and the perturbation observer is based on the fuzzy adaptive network. This observer utilizes the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated online by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating the control performance of the proposed approach, tracking control simulation is carried out for a 6-DOF parallel manipulator.