Dynamic Synovial Control Method of Four-Cable-Driven Parallel Robot Based on Interference Observer

Abstract

AbstractAiming at the problem of high-precision trajectory tracking of four-cable-driven parallel robot, a dynamic non-singular fast terminal sliding mode surface based on the estimation output of interference observer is proposed. Firstly, based on the combination of traditional fast terminal sliding mode control and non-singular terminal synovial control, the estimation value of interference observer is introduced, and a new nonlinear sliding mode surface is established to suppress the influence of unknown disturbance, and at the same time track the desired trajectory from unstable state to steady state. Based on the Lyapunov stability theory of the controller, the effectiveness of the control scheme is proved. Finally, in the Matlab/Simulink environment, a comparative simulation with the existing linear synovial film and non-singular fast terminal sliding mode is carried out, and the designed control method realizes high-precision fast tracking of the desired trajectory of the end grab under the uncertainty of modeling error, external interference and joint friction, which verifies the effectiveness and feasibility of the proposed control method.