A robust adaptive fuzzy sliding mode control method of 3-RRRT parallel manipulator

A direct adaptive fuzzy sliding mode control strategy for a 3-RRRT parallel manipulator is presented and actualized. According to its system dynamics character, and on the base of Lyapunov's stability theory, using fuzzy logic system with adaptive technology, a direct adaptive Fuzzy sliding mode control strategy is put forward and actualized, and then control system numerical simulation is completed by using MATLAB software platform, and the simulation results show that in case of periodic interferential signal, employing direct adaptive Fuzzy sliding mode control strategy, the 3-RRRT parallel manipulator attain higher path tracking precision, its closed-loop system revealed great adaptability and robustness.