Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot

The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease implementation—have contributed to its wide adoption by the community. To accurately compensate for parametric uncertainties, switching part SMC controller should have gains that are sufficiently large deal with but small minimize chattering phenomena. Hence, proper adjustment is crucial ensure accurate robust performance whist minimizing chattering. This paper proposes design implementation an optimal fuzzy enhanced approach a Stewart parallel robot platform. A systematic designing table rules system so provide required coefficients proposed. aim attain optimum minimum effort, thus eliminating need computationally expensive expert systems yielding outputs below actuator saturation ranges. proposed was validated using six degrees-of-freedom platform subject external disturbances. Its compared standard approach. obtained results comparative study showed algorithm not only reduces chattering, also responds effectively realistic demands energy, while preventing saturation.