the complex dynamics and parametric uncertainties
of parallel manipulator are great challenges from the perspective
of controller design. Due to this complexity, only basic controllers
are applied that are heuristic based and do not require an accu-
rate model. This paper proposes the use of a novel PI-Adaptive
fuzzy terminal sliding mode controller (PIAFTSMC)for trajec-
tory tracking of 3-PRR parallel manipulators. This controller
consists of a MIMO fuzzy controller, a terminal sliding mode
controller, a PI controller and an adaptation law. The proposed
controller has several advantages,it does not require an accurate
system model, decreases chattering of input controller, reduces
system tracking error to zero in finite time and simultaneously
adjusts both parameters of the fuzzy rule-base as well as the
PI controller to reach a good performance against external
disturbances
کلید واژگان :
PI Adaptive fuzzy terminal sliding mode con- troller (PIAFTSMC), 3-PRR parallel manipulator, Terminal slid- ing mode
