Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot

Hosseini, M. I.; Jafari Harandi, M.R.; Khalilpour Seyedi, S. A.; Taghirad, H.

doi:10.22061/JECEI.2019.5669.244

Document Type : Original Research Paper

Authors

Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran

https://doi.org/10.22061/JECEI.2019.5669.244

Abstract

Background and Objectives: Fast-tracking of reference trajectory and performance improvement in the presence of dynamic and kinematic uncertainties is of paramount importance in all robotic applications. This matter is even more important in the case of cable-driven parallel robots due to the flexibility of the cables. Furthermore, cables are limited in the sense that they can only apply tensile forces, for this reason, feedback control of such robots becomes more challenging than conventional parallel robots.
Methods: To address these requirements for a suspended cable-driven parallel robot, in this paper a novel adaptive fast terminal sliding mode controller is proposed and then the stability of the closed-loop system is proven. In the proposed controller, a nonlinear term as a fractional power term is used to guarantee the convergent response at a finite time.
Results: At last, to show the effectiveness of the proposed controller in tracking the reference trajectory, simulations and the required experimental implementation is performed on a suspended cable-driven robot. This robot, named ARAS-CAM, has three degrees of transmission freedom.
Conclusion: The obtained experimental results confirm the suitable performance of this method for cable robots in the presence of dynamic uncertainties.

Keywords

20.1001.1.23223952.2019.7.1.7.9

Main Subjects

Control

Open Access

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Publisher

Shahid Rajaee Teacher Training University

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Journal of Electrical and Computer Engineering Innovations (JECEI)

Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot

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Volume 7, Issue 1
January 2019
Pages 59-67

Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot

References

References

Send comment about this article

Volume 7, Issue 1January 2019Pages 59-67

Volume 7, Issue 1
January 2019
Pages 59-67