Sliding mode versus PD control for cable-based robots

摘要

Cable-based robots as well as their control are relatively new fields of research. The objective of this work is to design, simulate and compare two robot control techniques which are dedicated to be implemented for cable-based robots. The first controller is a classical proportional derivative one (PDC) while the second controller is the sliding mode one (SMC). The proposed controllers are inserted into a closed loop around the cable-based robot for ensuring point to point transfer operations and trajectory tracking. Simulations have been carried out confirming the effectiveness of the PDC and SMC for controlling planar cable-based robots. Performances concerning settling time, precision, vibration and system stability are analyzed and compared. Some simulation results are presented showing, for each control techniques during trajectory tracking, the instantaneous profile evolution of cable lengths and cable tensions.