DESIGN OF ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER OF CABLE-DRIVEN PARALLEL ROBOTS FOR SHIP PAINTING
Vol. 72 (2022), Science - Technology
Vol. 72 (2022)

DESIGN OF ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER OF CABLE-DRIVEN PARALLEL ROBOTS FOR SHIP PAINTING

Science - Technology
Published 2022-11-30
NAM TRAN THE
Phòng Khoa học - Công nghệ, Trường Đại học Hàng hải Việt Nam
CHAU THAM BOI
Mechanical Engineering Institute, Vietnam Maritime University
BA PHAM DINH
Mechanical Engineering Institute, Vietnam Maritime University
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Keywords

cable-driven parallel robot (CDPR), painting ship, adaptive backstepping sliding mode control (ABS-SMC), disturbance observer. Robot dây song song, sơn tàu biển, điều khiển trượt thích nghi, bộ quan sát nhiễu loạn.

How to Cite

TRẦN THẾ, N., THẨM BỘI, C., & PHẠM ĐÌNH, B. (2022). DESIGN OF ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER OF CABLE-DRIVEN PARALLEL ROBOTS FOR SHIP PAINTING. Journal of Marine Science and Technology, 72(72), 27–31. Retrieved from http://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/345
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Abstract

This paper introduces an adaptive nonlinear controller based on the backstepping sliding control method to control the orientation and position of an end-effector in a cable-driven parallel robot (CDPR) configuration to perform paint spraying for ship hulls. The main advantage of the proposed controller is its ability to adapt and overcome the uncertainties of the CDPR system. In addition, a disturbance observer is also designed for the CDPR system. Several numerical simulations on MATLAB/Simulink software are given to demonstrate the capability of the proposed controller.

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