Robust Sliding Mode Control for Novel Type of Parallel Robot

Abstract

In this paper we present a new control architecture based on the robust sliding mode control applied to control a nonlinear system (parallel cable robot). This approach is widely used to address the uncertainties and disturbances of nonlinear systems and to improve the performance of the robot in terms of tracking a desired path. A dynamic model is presented followed by the description of the control approach used. To do this, numerical simulations were carried out by developing a specific code including a graphical user interface for a user-friendly real time. The simulation results for a dynamic model with sliding mode control are discussed for different trajectories applied to this robot, to confirm the validity of accurate tracking of a desired path before future work description.