Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator in Practice

摘要

This paper proposes a synchronous sliding mode control (SSMC) method for a 4-DOF parallel robot model in practice with the influence of uncertain dynamics such as friction, external noise, and model error. A closed kinematic chain structure characterizes the parallel robot. The moving platform is controlled by four kinematic chains working together to follow a predetermined trajectory. However, traditional control methods only control each joint individually; if one of the actuators fails or has an external force, it can lead to system breakdown. Therefore, synchronous control to coordinate the operation of the arms is necessary. The synchronization algorithm is characterized by the cross-coupling error, which is the combination of tracking and synchronization errors for the system to achieve the synchronization goal. Cross-coupling error is used to design the sliding surface of the SSMC. The advantages of sliding mode control (SMC) are that it resists the influence of uncertain dynamics and it is combined with the synchronization algorithm. A control law is developed based on the sliding surface to ensure simultaneous convergence of both tracking and synchronization errors towards zero. The stability of the system is proven using the Lyapunov theory. In order to verify the effectiveness of the proposed approach, a 4-DOF parallel robot testbench is constructed. The SSMC controller results are compared with the testbench’s proportional-integral-derivative (PID), synchronous proportional-integral-derivative (SPID), and SMC controllers.