Discontinuous finite-time control for Cable Driven Parallel Robots

Abstract

This paper investigates the problem of finite-time stability for cable-driven parallel robots (CDPRs) by discontinuous sliding mode controllers. In this study, we propose a new control law for actuators that can only pull, but not push the robot moving platform. However, this control guarantees the finite-time stability of the robot. The effects of better control performance are shown by numerical simulation.