Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot

Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

2018

Abstract

The aim of this paper is to develop a suitable control of Multi-Body Cable-Driven Robot with satisfactory tensionnability condition. The desired trajectory is given in joint mobile platform space and thereby transformed on joint actuator space using the developed inverse kinematic. Under the control scheme, the actuator joint coordinates obtained by the sensor are used as feedback for the control system. Adding to the error in joint actuator space, the cable tensions which are computed based on the mobile platform dynamic and the optimization problem are used as inputs of the controller. The sliding mode control method based on linear reaching law is used to control the effector of the robot. Asymptotic stability of the closed loop system is analyzed through Lyapunov theorem. Finally, a motion tracking based on the proposed control strategy is carried out on the Multi Body Cable-Driven Robot. The obtained results show the effectiveness and the feasiblity of the proposed control method.

Paper Citation

in Harvard Style

Faqihi H., Saad M., Benjelloun K., Benbrahim M. and Kabbaj M. (2018). Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 357-363. DOI: 10.5220/0006865103570363

in Bibtex Style

@conference{icinco18,
author={Hachmia Faqihi and Maarouf Saad and Khalid Benjelloun and Mohammed Benbrahim and M. Nabil Kabbaj},
title={Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={357-363},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006865103570363},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot
SN - 978-989-758-321-6
AU - Faqihi H.
AU - Saad M.
AU - Benjelloun K.
AU - Benbrahim M.
AU - Kabbaj M.
PY - 2018
SP - 357
EP - 363
DO - 10.5220/0006865103570363