In this article, the trajectory tracking control is developed by implementing a non-singular terminal sliding mode control for the redundantly actuated parallel mechanism system. The proposed control scheme could guarantee that the tracking errors converge to zero asymptotically. The problem of singularity with regard to conventional terminal sliding mode control scheme can be eliminated with the presented novel non-singular terminal sliding mode surface as well. The corresponding stability of the proposed control scheme has also been proved theoretically in terms of Lyapunov method. In addition, simulations and experiments are conducted for trajectory tracking to validate the effectiveness of the proposed scheme. The illustrative results demonstrate that the proposed scheme is available to solve the uncertainties and external disturbances with self-tuning in real time. Furthermore, the prominent characteristics of the presented control scheme are quick convergence, high accuracy, and high robustness, which can achieve excellent tracking performance as compared with computed torque control scheme and conventional sliding mode control scheme.

中文翻译：

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冗余驱动并联机构的非奇异终端滑模控制

在本文中，通过对冗余驱动的并联机构系统实现非奇异终端滑模控制来开发轨迹跟踪控制。所提出的控制方案可以保证跟踪误差渐近收敛到零。提出的新型非奇异终端滑模面也可以消除传统终端滑模控制方案的奇异性问题。根据李雅普诺夫方法，所提出的控制方案的相应稳定性也得到了理论上的证明。此外，对轨迹跟踪进行了仿真和实验，以验证所提出方案的有效性。说明性结果表明，所提出的方案可用于实时自整定解决不确定性和外部干扰。此外，所提出的控制方案的突出特点是收敛速度快、精度高和鲁棒性高，与计算扭矩控制方案和传统滑模控制方案相比，可以实现出色的跟踪性能。