A Fuzzy Sliding Mode Controller for Planar 4-Cable Direct Driven Robot

摘要

Cable Direct Driven Robots (CDDRs) are a special class of parallel robots but they are formed by replacing all the supporting rigid links with cables. Compare with traditional robots, these robots are good candidates for performing a wide range of potential applications. A Planar CDDR model is considered in this paper since no rotational move and no moment resistance are required on the end-effector, all 4 cables convene in a single point and the end-effector is modeled as a point mass. The main goal of this paper is to present a new approach in control by developing a Sliding Mode Controller (SMC) with a Fuzzy-PI as sliding surface using Fuzzy logic toolbox in Matlab/Simulink. The tests performed were Step change reference test and Tracking trajectory test to observe the behavior of the cables during the trajectory and the end-effector movement. Simulation was carried out on Planar 4-Cable CDDR to prove the effectiveness of the proposed control law and the results were compared with a PI Controller and a conventional SMC in terms of integral square error (ISE) index. Only the kinematic model of Planar 4-Cable CDDR is considered in this paper.