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

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.