This project presents the synchronization sliding mode control (SMC) with time delay estimation for a 4-DOF parallel robot in practice. The proposed control is developed with the synchronization SMC and combination with time delay estimation to guarantee tracking objectives and synchronous requirements of the robot. Firstly, the synchronous SMC is designed by defining cross-coupling errors. Cross-coupling error is performed by incorporating the tracking error and deviation of tracking error among the two adjacent joint or synchronous errors. Then, the asynchronous between the kinematic chains is solved and guarantees the synchronous goal is achieved. Consequently, to improve the tracking performance of the robot, a time delay estimation is used to estimate and eliminate the uncertainty components of the system, such as modeling errors and actuator faults. In addition, the Lyapunov theory is also used to demonstrate the stability and robustness of the proposed control. Finally, a testbench 4-DOF parallel robot is built, and the controllers are embedded in the control board from MATLAB Simulink by Waijung block set library to operate the robot preset trajectory tracking. The experiment results of the proposed control on the 4-DOF parallel robot are compared with other controllers to prove its effectiveness.

Synchronous control, time delay estimator, kinematics, parallel robot, Lyapunov

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