Driving simulators are used for the training of vehicle drivers and they have varied applications in games and entertainment. These platforms minimize the use of real vehicles, with the consequent saving of resources. Here, control strategies for nonlinear systems applied in parallel robots using electropneumatic actuators are developed. These actuators are cheaper but, at the same time, more difficult to control due to the compressibility of air, friction and uncertainties. In this paper, a nonlinear PD-fuzzy + I control strategy is used to deal with highly non-linear elements and uncertainties. Also, control algorithm soften the controls and thus protect the valves and pneumatic pistons. Simulation results are provided to show the effectiveness and the potentialities of the proposed control strategy.