Robust Parallel Cooperative Control of Cable-Driven Robot System via Adaptive Integral Sliding Mode

摘要

This paper develops an adaptive integral sliding mode control scheme to manipulate the cable-driven robots, realizing robust parallel cooperation performance for the variable loads. The considered cable-driven robot system (CDRS) employs multiple flexible cables to cooperatively regulate the robotics platform, which results in the control issues of parallel and distributed manipulations. In this regard, a parallel cooperation strategy is proposed to regulate the parallel cooperation performance of CDRS adaptively. It presents a cross-coupled cooperation principle based on a ring topology, effectively reducing the computational redundancy caused by global cooperative errors in parallel and distributed manipulations. Based on this, an adaptive integral sliding mode cooperative controller is developed to regulate multiple flexible cables in a cooperative manner, which can achieve a smoother control process by reducing the chattering issues of flexible cables. Finally, the effectiveness and superiority of the proposed scheme are verified by multiple groups of robotics experiments with variable loads.