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Second-Order Sliding-Mode based Synchronization Control of Cable-Driven Parallel Robots
Jia, Huaiyuan1,2,3; Shang, Weiwei1; Xie, Fei1; Zhang, Bin1; Cong, Shuang1
Department机器人学研究室
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
2020
Volume25Issue:1Pages:383-394
Indexed BySCI ; EI
EI Accession number20195207905772
WOS IDWOS:000519587000036
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China with Grant No. 51675501 and 51275500 ; State Key Laboratory of Robotics and System (HIT) with Grant No. SKLRS-2018-KF-07 ; Youth Innovation Promotion Association CAS with Grant No. 2012321
KeywordCable-driven robot parallel robot sliding mode control synchronization control motion control
Abstract

Cable-driven parallel robots (CDPRs) can provide a high speed and a heavy payload in a large workspace. The main challenge of CDPRs stems from the dynamic control, in which all cables must coordinate with each other to remain in tension, and the cable-driven form may lead to model uncertainties. To solve it, the second-order sliding-mode (SOSM) is combined with the multi-cable synchronization idea to propose a new SOSM-based synchronization control (SOSM-SC) strategy for CDPRs. The goal of the cross-coupled control (CCC) approach is to improve the synchronization motion relationship between all cables and guarantee better trajectory tracking control, while the SOSM can restrain the model uncertainties and external disturbances. The Lyapunov theory is utilized to prove the asymptotic stability of the closed-loop control system of CDPRs. Trajectory tracking experiments indicate that compared with the existing synchronization control (SC) strategy and the augmented proportional-derivative (APD) strategy, the proposed SOSM-SC strategy significantly reduces the cable tracking error and the cable synchronization error and ultimately improves the control accuracy for the mobile platform. Tracking experiments of the anti-disturbance indicate that the SOSM-SC strategy can retain good tracking accuracy under external disturbances.

Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS KeywordNONLINEAR-SYSTEMS ; DESIGN ; OUTPUT ; IDENTIFICATION ; MANIPULATORS ; STIFFNESS
WOS Research AreaAutomation & Control Systems ; Engineering
Funding ProjectNational Natural Science Foundation of China[51675501] ; National Natural Science Foundation of China[51275500] ; State Key Laboratory of Robotics and System (HIT)[SKLRS-2018-KF-07] ; Youth Innovation Promotion Association CAS[2012321]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26132
Collection机器人学研究室
Corresponding AuthorJia, Huaiyuan
Affiliation1.Department of Automation, University of Science and Technology of China, Hefei, Anhui China 230027
2.Department of Biomedical Engineering, City University of Hong Kong
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, Liaoning, China 110016
Recommended Citation
GB/T 7714
Jia, Huaiyuan,Shang, Weiwei,Xie, Fei,et al. Second-Order Sliding-Mode based Synchronization Control of Cable-Driven Parallel Robots[J]. IEEE/ASME Transactions on Mechatronics,2020,25(1):383-394.
APA Jia, Huaiyuan,Shang, Weiwei,Xie, Fei,Zhang, Bin,&Cong, Shuang.(2020).Second-Order Sliding-Mode based Synchronization Control of Cable-Driven Parallel Robots.IEEE/ASME Transactions on Mechatronics,25(1),383-394.
MLA Jia, Huaiyuan,et al."Second-Order Sliding-Mode based Synchronization Control of Cable-Driven Parallel Robots".IEEE/ASME Transactions on Mechatronics 25.1(2020):383-394.
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