Trajectory Tracking Sliding Mode Control of a Cable Parallel Manipulator Based on Fuzzy Logic

The cooperative variation of lengths of the six long cables pulls the feed cabin to track some radio source with six-DOF. Similar to a parallel manipulator, the cable-cabin flexible structure for the new generation large spherical radio telescope is viewed as a cable-supported parallel manipulator (CPM). Due to the inherent characteristics of nonlinearity, large delay and multivariable coupled flexible structure, a novel control method combining sliding mode control and fuzzy logic control is developed to realize the trajectory tracking of the feed. The approach applies fuzzy controller to adjust the parameters of reach law of sliding mode timely. At the same time the exponent approximating control is added by grading. This approach not only ensures the speediness and robustness of the control system, but also can weaken chattering. In addition, on the basis of embedded system design method, the servo controller for CPM is designed. The design of the control system is simple and it can be easily applied in the engineering. The simulation results show that the effectiveness of the proposed method