Adaptive Nonsingular Fast Terminal Sliding Mode Tracking Control for Parallel Manipulators with Uncertainties

In this study, an adaptive nonsingular fast terminal sliding mode tracking control scheme is proposed for parallel manipulators with uncertainties. Based on the nonsingular fast terminal sliding mode control, the proposed approach can have superior tracking control performance in the case of full-state constraints with the external disturbances and uncertainties. Besides, the proposed scheme can have several advantages such as rapid response, robustness, higher precision, nonsingular, and finite-time converge, easy implementation, and chattering-free. Simulation results validate the effectiveness of the proposed method.