Trajectory tracking with parallel robots using low chattering, fuzzy sliding mode controller

Zhen Qi, John E. McInroy, Farhad Jafari

Research output: Contribution to journalArticlepeer-review

33 Scopus citations


This paper proposes a trajectory tracking scheme which belongs to the sliding mode control (SMC) for the 4-degree-of-freedom (DOF) parallel robots. Two fuzzy logic systems (FLS) are first put forward to replace the constant switching control gain and the width of the boundary layer. The fuzzy adaptive supervisory controller (FASC) is combined with the fuzzy sliding mode control (FSMC) to further reduce the chattering. The design is simple and less fuzzy rules are required. The simulation results demonstrate that the chattering of the SMC is reduced greatly and the parallel robot realizes the trajectory tracking with very good robustness to the parameter uncertainties and external disturbances.

Original languageEnglish (US)
Pages (from-to)333-356
Number of pages24
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3
StatePublished - Mar 1 2007
Externally publishedYes


  • External disturbance
  • Fuzzy adaptive supervisory controller
  • Fuzzy logic systems
  • Parallel robot
  • Sliding mode control
  • Trajectory tracking

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