Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

Ship derusting has the characteristics of a complex operation environment, high labor intensity and low efficiency. In order to better cope with this situation, new type cable-driven parallel robot (CDPDR) is proposed in article. To improve positioning accuracy anti-interference capacity motion platform where end effector mounted, system’s dynamic model, considering wave excitation, established. Further, controllable workspace cable tension optimization algorithm are studied. addition, fast non-singular terminal sliding-mode controller designed. Meanwhile, adaptive technique used estimate disturbance upper bound. Then, Lyapunov theory applied prove stability system. Finally, performance verified by high-fidelity simulations two different scenarios. The results show that can converge finite time maintain small error under multiple external disturbances. relevant research article provide theoretical guidance for application CDPDRs on ships.