Dynamic modeling and adaptive finite-time control of cable-driven parallel robots for ship cleaning

摘要

Ship cleaning, often manually performed by numerous workers, is crucial in the shipping industry. This study introduces a marine cable-driven parallel cleaning robot (MCDPCR) to enhance cleaning security and efficiency. To investigate trajectory tracking under the moving base, the dynamic model of MCDPCR is established, and the optimisation of cable forces is considered. Then, an adaptive terminal sliding mode controller is designed, integrating the discontinuous sign function term to obtain a continuous actual control law and thus a chattering-free response. Meanwhile, the uncertainty is compensated by an adaptive method. The stability of the control strategy is analyzed using the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by several simulation scenarios. The results show that the controller has a fast global convergence speed, high tracking accuracy, and strong robustness. The method can provide a valuable reference for developing automated marine cleaning equipment.