Ship cleaning, often manually performed by numerous workers, is crucial in the shipping industry. This study introduces a marine cable-driven parallel cleaning robot (MCDPCR) to enhance cleaning security and efficiency. To investigate trajectory tracking under the moving base, the dynamic model of MCDPCR is established, and the optimisation of cable forces is considered. Then, an adaptive terminal sliding mode controller is designed, integrating the discontinuous sign function term to obtain a continuous actual control law and thus a chattering-free response. Meanwhile, the uncertainty is compensated by an adaptive method. The stability of the control strategy is analyzed using the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by several simulation scenarios. The results show that the controller has a fast global convergence speed, high tracking accuracy, and strong robustness. The method can provide a valuable reference for developing automated marine cleaning equipment.


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    Title :

    Dynamic modeling and adaptive finite-time control of cable-driven parallel robots for ship cleaning


    Additional title:

    SHIPS AND OFFSHORE STRUCTURES
    J. LI ET AL.


    Contributors:
    Li, Jian (author) / Chen, Yizong (author) / Wang, Shenghai (author) / Chen, Haiquan (author) / Han, Guangdong (author) / Luo, Weirong (author)

    Published in:

    Ships and Offshore Structures ; 19 , 12 ; 2100-2112


    Publication date :

    2024-12-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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