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Abstract: Cable Direct Driven Robots (CDDRs) are a special class of parallel robots, these
are formed from replacing all the supporting rigid links by cables. Unlike the traditional robots,
these are good candidates for performing a wide range of potential applications. In this paper
the rotational move and moment resistance on the end-effector are not considered on Planar
4-Cable CDDR model, all 4 cables convene in a single point and the end-effector is modeled
as a point mass. The aim of this paper is to present a robust control using a Sliding Mode
Controller (SMC) with a Fuzzy-PI as sliding surface. Step change reference test and, tracking
trajectory test were performed in order to observe the behavior of the Planar 4-Cable CDDR
during the trajectory of the end-effector. In order to prove the effectiveness of the proposed
control law, simulation from MatLab carried out on a Planar 4-Cable CDDR and the results
were compared with a PI Controller and a conventional SMC in terms of integral square error
(ISE) performance index. Only the kinematic model of Planar 4-Cable CDDR is considered in
this paper.
Keywords: Cable Direct Driven Robot, Sliding Mode Control, Fuzzy Controller
3.1 PI Controller
Ki
SMC
Pr (t ) 1 T
Pd (t )
+
e(t )
Kp +
uc (t) ud (t)
Plant V = σ(t) σ(t) > 0 (18)
-
+
2
The derivative of the function V must be negative-definite:
K i
T
V̇ = σ(t) σ̇(t) < 0 (19)
axis Y
0
-0.1
-0.2
-0.3
-0.4
-0.5
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
axis X
2
-0.198
y [m]
-0.2
SMC Controller, PI Controller and conventional SMC
respectively. -0.202
-0.204
-0.2
0.202 0
x [m]
-0.05
0.2
-0.1
0.198
-0.15
0.196
-0.2
0.194 -0.25
-0.25 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25
x [m]
0.192
0 1 2 3 4 5 6
Time [s]
Fig. 12. XY Graph, Square trajectory.
Fig. 10. x vs. time, Step Change Reference Test.
-0.19
control: an approach to regulate nonlinear chemical
processes. ISA transactions, 39(2), 205–218.
-0.195
Camacho Quintero, O.E. (2017). A blended sliding mode
control with linear quadratic integral control based on
-0.2
reduced order model for a vtol system.
Ghosh, A., Sen, S., and Dey, C. (2015). Design and real-
-0.205
-0.2 -0.195 -0.19 -0.185 -0.18 -0.175
time implementation of a fuzzy pi controller on a servo
x [m] speed control application. In Signal Processing and
Integrated Networks (SPIN), 2015 2nd International
Fig. 13. XY Graph Zoom, Beginning of Square trajectory. Conference on, 384–387. IEEE.
Jin, X., Jun, D.I., Pott, A., Park, S., Park, J.O., and Ko,
In Fig. 14 presents a image zoom at the corner of the S.Y. (2013). Four-cable-driven parallel robot. Interna-
square trajectory showing that Fuzzy-SMC Controller is tional Conference on Control, Automation and Systems
smoother than the others and the proposed controller is (ICCAS 2013), 879–883.
the best for reaching the trajectory. Khosravi, M.A. and Taghirad, H.D. (2014). Robust pid
control of fully-constrained cable driven parallel robots.
Square Trajectory Mechatronics, 24(2), 87–97.
-0.186
Reference
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-0.188
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-0.19 2008. 27th Chinese, 170–174. IEEE.
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y [m]