Interval type-2 fuzzy sliding mode control for a cable-driven parallel robot with elastic cables using metaheuristic optimization methods

Mohammadhossein Aghaseyedabdollah, Mostafa Abedi and Mahdi Pourgholi

Mathematics and Computers in Simulation (MATCOM), 2024, vol. 218, issue C, 435-461

Abstract: In this paper, a supervisory interval type-2 fuzzy adaptive sliding mode control scheme is addressed for cable robots. In the proposed control scheme, intelligent methods are combined with conventional sliding mode control to achieve optimal adjustment of control parameters. This approach ensures accurate tracking performance, despite the structural constraints of cable robots. These constraints include the production of purely tensile forces and the effects due to inherent elasticity, which will make the design of the controller challenging. For this purpose, the internal force concept is utilized to ensure the tension style of cables. Additionally, considering a compensator part in the proposed controller and applying the singular perturbation theorem, the vibration effects of elastic cables are handled, and stability is proved through the second Lyapunov method. Therefore, the desired performance of the control system will be guaranteed for the movements that stimulate the vibration modes of cables. An interval type-2 fuzzy logic controller is proposed to adjust the control gain, effectively reducing the chattering level. Moreover, a supervisory interval type-2 fuzzy logic control system is introduced to regulate the gains within the sliding surface. The Grasshopper Optimization Algorithm is employed to select the optimal parameters for the membership functions of the fuzzy system. The results of the conducted simulations show that the desired tracking performance is provided, despite different uncertain parameters and the structural constraints of the considered cable robot.

Keywords: Elastic cables; Interval type-2 fuzzy system; Cable-driven parallel robot; The Grasshopper optimization algorithm; Adaptive sliding mode control (search for similar items in EconPapers)
Date: 2024
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/S0378475423005062
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:218:y:2024:i:c:p:435-461

DOI: 10.1016/j.matcom.2023.11.036

Access Statistics for this article

Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens

More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier
Bibliographic data for series maintained by Catherine Liu ().