Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

In this paper, a non-negative adaptive mechanism based on an nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties external disturbances. The approach hybrid scheme online mechanism, differentiator, (NFTSMC). Based can remove assumption that disturbances must be NFTSMC controllers. controller has several advantages such as simple structure, easy implementation, rapid response, chattering-free, high precision, robustness, singularity avoidance, finite-time convergence. Since all parameters are updated via differentiator law, performance at motions better in real-time requirement disturbance rejection ability. Finally, simulation results validate effectiveness method.