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Hosseini, M. I., Jafari Harandi, M.R., Khalilpour Seyedi, S. A., Taghirad, H.. (1397). Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot. فناوری آموزش, 7(1), 59-67. doi: 10.22061/JECEI.2019.5669.244
M. I. Hosseini; M.R. Jafari Harandi; S. A. Khalilpour Seyedi; H. Taghirad. "Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot". فناوری آموزش, 7, 1, 1397, 59-67. doi: 10.22061/JECEI.2019.5669.244
Hosseini, M. I., Jafari Harandi, M.R., Khalilpour Seyedi, S. A., Taghirad, H.. (1397). 'Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot', فناوری آموزش, 7(1), pp. 59-67. doi: 10.22061/JECEI.2019.5669.244
Hosseini, M. I., Jafari Harandi, M.R., Khalilpour Seyedi, S. A., Taghirad, H.. Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot. فناوری آموزش, 1397; 7(1): 59-67. doi: 10.22061/JECEI.2019.5669.244

Experimental Performance of Adaptive Fast Terminal Sliding Mode Control on a Suspended Cable Robot

Journal of Electrical and Computer Engineering Innovations (JECEI)
مقاله 8، دوره 7، شماره 1، فروردین 2019، صفحه 59-67    اصل مقاله (1.18 M)
نوع مقاله: Original Research Paper
شناسه دیجیتال (DOI): 10.22061/JECEI.2019.5669.244
نویسندگان
M. I. Hosseini؛ M.R. Jafari Harandi؛ S. A. Khalilpour Seyedi؛ H. Taghirad*
Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
تاریخ دریافت: 26 بهمن 1396،  تاریخ بازنگری: 02 تیر 1397،  تاریخ پذیرش: 09 مهر 1397 
چکیده
Background and Objectives: Fast-tracking of reference trajectory and performance improvement in the presence of dynamic and kinematic uncertainties is of paramount importance in all robotic applications. This matter is even more important in the case of cable-driven parallel robots due to the flexibility of the cables. Furthermore, cables are limited in the sense that they can only apply tensile forces, for this reason, feedback control of such robots becomes more challenging than conventional parallel robots.
Methods: To address these requirements for a suspended cable-driven parallel robot, in this paper a novel adaptive fast terminal sliding mode controller is proposed and then the stability of the closed-loop system is proven. In the proposed controller, a nonlinear term as a fractional power term is used to guarantee the convergent response at a finite time.
Results: At last, to show the effectiveness of the proposed controller in tracking the reference trajectory, simulations and the required experimental implementation is performed on a suspended cable-driven robot. This robot, named ARAS-CAM, has three degrees of transmission freedom.
Conclusion: The obtained experimental results confirm the suitable performance of this method for cable robots in the presence of dynamic uncertainties.
کلیدواژه‌ها
Suspended cable-driven؛ parallel manipulator؛ Fast terminal sliding mode؛ Finite-time convergence؛ Cost of flexibility؛ Robust control؛ Adaptive control
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