Abstract
Since the cable structure generally leads to lower stiffness, cable-driven parallel robots (CDPRs) currently face some graver control challenges, where the inevitable system uncertainty will have more significant impacts on the control accuracy of CDPRs. To improve this situation, a novel sliding mode surface and the corresponding novel approaching law are defined by investigating the multi-cable synchronization, and then a new fast terminal sliding mode control strategy with synchronization error (FTSMC-SE) is proposed in this paper. Referring to the parallel structure of CDPRs, the synchronous motion of adjacent cables is ensured to obviously improve the control accuracy. Meanwhile, by deeply analyzing the finite-time convergence characteristic of the fast terminal sliding mode control, the defined synchronization error is skillfully integrated with the sliding mode surface and its novel approaching law to achieve further improvement. The Lyapunov theory is then used to analyze the finite-time stability with the error convergence guarantee of the control system. Simulation and experimental results indicate that the more synchronized cable motion and the faster error convergence can be achieved by the proposed FTSMC-SE, which together promotes the final higher precision trajectory tracking.
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