Nonsingular Fast Terminal Sliding Mode Control of Stewart Parallel Robot

Aiming at the control problem of Stewart parallel robot, this paper presents a nonsingular fast terminal sliding mode control algorithm combining double-power reaching law. The proposed control algorithm can ensure that the robot system quickly converges to the desired pose, weaken the influence of chattering, and overcome the singularity problem of the fast terminal sliding mode controller. Firstly, the nonsingular fast terminal sliding surface of the robot is defined. Then, based on the equivalent control principle, the nonsingular fast terminal sliding mode control law of the system is obtained by using the double-power reaching law to deduce the nonlinear control law. Finally, the Lyapunov stability theorem and Gaussian hypergeometric function were used to prove that the pose error can converge to 0 in a finite time. Through numerical simulation testing, the rationality of this control algorithm is verified.