并联机器人基于滑模理论的模糊控制

Sliding mode based fuzzy control of the parallel robot

根据并联机器人控制的特点，运用一种基于滑模理论的模糊控制方法对它进行控制。这种控制算法简单，具有很强的鲁棒性，还能够保证系统的稳定性。仿真结果表明，它对并联机器人的控制具有良好的效果。

Based on the control characteristic of parallel robot ,this paper applies a fuzzy method from a sliding mode standpoint to robot control .The method can ie simply computed and has a strong robustness and also can make the system more stable. The simulation aesults demonstrate itsfeasibility.