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Tytuł pozycji:

Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

Tytuł :
Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer
Autorzy :
Yuqi Wang
Qi Lin
Jiacai Huang
Lei Zhou
Jinjiang Cao
Guifang Qiao
Xinxin Shi
Pokaż więcej
Temat :
Wire-driven parallel robot
dynamic modeling
HJI theory
disturbance observer
sliding mode control
simulation analysis
Electrical engineering. Electronics. Nuclear engineering
TK1-9971
Źródło :
IEEE Access, Vol 8, Pp 215235-215245 (2020)
Wydawca :
IEEE, 2020.
Rok publikacji :
2020
Kolekcja :
LCC:Electrical engineering. Electronics. Nuclear engineering
Typ dokumentu :
article
Opis pliku :
electronic resource
Język :
English
ISSN :
2169-3536
Relacje :
https://ieeexplore.ieee.org/document/9272323/; https://doaj.org/toc/2169-3536
DOI :
10.1109/ACCESS.2020.3040652
Dostęp URL :
https://doaj.org/article/89088f93c68f4de4b87644b3959734b5
Numer akcesji :
edsdoj.89088f93c68f4de4b87644b3959734b5
Czasopismo naukowe
A sliding mode robust control law based on Hamilton-Jacobi Inequality (HJI) theory and a disturbance observer is proposed for a wire-driven parallel robot (WDPR) used in a wind- tunnel test. First, the wire-driven parallel robot is described, and its kinematics model established. Second, according to the uncertainty, external disturbance, and redundant drive of the system, the dynamic model of the end-effector and drive system, and the overall dynamic model of the system are established. Hamilton-Jacobi Inequality theory and the designed disturbance observer are applied to the designed sliding mode robust control law, and the anti-interference ability of the WDPR is verified. The stability of the closed-loop system is analyzed by Lyapunov's second method, and the results show that the closed-loop system tends to be asymptotically stable. Finally, taking the dynamic trajectory simulation of compound motion and six-degree-of-freedom motion as examples, the designed sliding mode robust control law is verified by simulation, and the contrastive simulation analysis shows that the disturbance observer can effectively reduce the switching gain, thus effectively reducing chattering and improving the control accuracy of the system. The simulation results show that the designed sliding mode robust control law can effectively suppress the influence of external disturbance on the control error. The control input and the length of the wire change in a certain range. They also prove that the pose error is small, and the control accuracy is high. All of the foundings lay a theoretical foundation and technical support for the practical application of the prototype in a wind-tunnel test.

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