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ABSTRACT锛欰iming at the character of the mathematical model 0f parallel robot driven by the hy锛巇raul|c SeINO system锛嶣 kind of discrete sliding mode varilable strueture eontreller with the variable rate reaching law is designed锛巘he simulation result demonstratos that the chattering phenomemon which is in锛巋erent to the vailabk stmcture control is avoided in this control scheme锛巃(ch菐n)nd control system exhibits strong mbusmess to parameter variations and external disturbances锛�
KEY WORDS锛欻ydraulic SelWO system Parallel robot Discrete sliding mode VSC Variab le ratereaching law
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