Document Type : Original Article
Authors
1 Bachelor's degree in Electronic Engineering from Shahid Chamran University of Ahvaz, Master's degree in Mechatronics Engineering from Tabriz University, and PhD in Control Engineering
2 He received his bachelor's degree in mechanical engineering from Shahid Chamran University of Ahvaz, his master's degree in mechanical engineering from Guilan University of Technology, and his doctorate in mechanical engineering
Abstract
In this paper, the fractional-order sliding mode approach is employed to control a cable-driven parallel robot. Due to uncertainties in kinematic and dynamic parameters, as well as the use of tension cables, cabledriven robots inherently exhibit a vibrating structure and uncertainty. Consequently, robustness is a crucial aspect of controlling such systems. To achieve full controllability, actuation redundancy is also necessary. For all cable-driven robots, the cables cannot have negative tension values. Furthermore, because of the positive tension in the cables, the control rules must also yield positive values. The combination of positive tension, actuation redundancy, and a vibrating structure makes the control of these robots a challenging problem for engineers, highlighting the importance of designing a robust controller. In this article, robust sliding mode
controllers are modified using the fractional-order approach. The proposed method demonstrates superior results compared to the conventional sliding mode method, particularly under disturbance conditions. The Lyapunov stability theorem is utilized to establish the stability and validity of the proposed method, and its effectiveness is illustrated through simulations in MATLAB/Simulink.
Keywords
- Cable Driven Parallel Robots (CDPRs)
- Fractional-order Sliding Mode Controller
- Lyapunov Stability Theorem
Main Subjects
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