Robust Dynamic Sliding Mode Control of a Deployable Cable Driven Robot

Abstract

Despite of bing intensively developed, cable driven parallel manipulators are not yet vastly used due to their requirements for accurate assembly and installation. The main goal of this paper is to propose a suitable control method by which the robot could be suitably controlled without the requirement for undergoing any accurate calibration process. Here this robot is called deployable cable driven manipulator, in which the positions of the cable attachment points are not accurately known. This uncertainty in measurements will affect many parameters in the kinematic model especially the Jacobian matrix which is used as a force distributer in the Cartesian-space control strategies. In this paper in order to overcome this problem, a robust dynamic sliding mode controller is proposed. Then robust stability of the closed-loop system is analyzed through the Lyapunov direct method and by accordingly appropriate controller gain selection is performed. In order to illustrate the performance of the proposed controller, the robot is simulated in ADAMS software and it is shown that a suitable controller performance could be achieved.