Trajectory Tracking of Delta Parallel Robot via Adaptive Backstepping Fractional-Order Non-Singular Sliding Mode Control
Dachang Zhu,
Yonglong He,
Fangyi Li
Abstract:The utilization of the Delta parallel robot in high-speed and high-precision applications has been extensive, with motion stability being a critical performance measure. To address the inherent inaccuracies of the model and minimize the impact of external disturbances on motion stability, we propose an adaptive backstepping fractional-order non-singular terminal sliding mode control (ABF-NTSMC). Initially, by employing a backstepping algorithm, we select the virtual control for subsystems as the state variable… Show more
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