Parallel robots are usually required to perform real-Time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-Time tracking control of parallel robots due to its capacity of parallel processing and nonlinearity handling. However, it is still a challenge for the solution in a unified framework of the ZND to deal with the external disturbances, and simultaneously possess a finite-Time convergence property. In this paper, a novel ZND model by exploring the super-Twisting (ST) algorithm, named ST-ZND model, is proposed. The theoretical analyses on the global stability, finite-Time convergence, as well as the robustness against the external disturbances are rigorously presented. Finally, the effectiveness and superiority of the ST-ZND model for the real-Time tracking control of parallel robots are demonstrated by two illustrative examples, comparisons, and convergence tests.
- Finite-Time convergence
- robot manipulators
- super-Twisting (ST)
- tracking control
- zeroing neural-dynamics (ZNDs)