Research on second-order integral terminal adaptive sliding mode control strategy for marine cable-driven parallel grinding robot

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Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (14) : 207-219.

ZHAO Shilong,WANG Shenghai*,HE Yunpeng,HAN Guangdong,LI Jian,CHEN Haiquan,SUN Yuqing

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Abstract

Manual grinding during shipbuilding and maintenance is characterized by high complexity, low efficiency, and substantial risks, making it a significant bottleneck in the industry's modernization efforts. To address these challenges, a Cable-Driven Parallel Grinding Robot (CDPGR) has been developed. A dynamic model of the CDPGR, incorporating ship motion as an external disturbance alongside the reaction forces generated during grinding, is established using the Lagrange method. To enhance the system's robustness against disturbances and improve control precision beyond the capabilities of existing controllers, a Second-Order Integral Terminal Adaptive Sliding Mode Controller (SOITASMC) is proposed based on the dynamic model. The control system's stability is rigorously validated through Lyapunov theory. Simulations under complex operating conditions demonstrate the effectiveness of the SOITASMC, with comparative analyses highlighting its advantages over traditional controllers. A scaled prototype of the CDPGR is subsequently constructed, and experimental evaluations are performed. Results show that, compared to existing controllers, the SOITASMC reduces steady-state position error by an average of 0.05 m, steady-state angular error by 1.09°, and rise time by 0.8 s. Additionally, binary image analysis of pre- and post-grinding steel plates indicates that surface smoothness improves from 22.34% to 69.51%. These findings affirm the superior performance of the SOITASMC and the practical effectiveness of the CDPGR for grinding tasks. This research provides valuable insights and innovative solutions for applying cable-driven parallel robots in shipbuilding and maintenance operations.

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Cable-driven parallel robot / grinding robot / dynamic modeling / second-order integral terminal adaptive sliding mode control

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ZHAO Shilong, WANG Shenghai, HE Yunpeng, HAN Guangdong, LI Jian, CHEN Haiquan, SUN Yuqing. Research on second-order integral terminal adaptive sliding mode control strategy for marine cable-driven parallel grinding robot[J]. Journal of Vibration and Shock, 2025, 44(14): 207-219

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