System Modeling and Motion Control of a Cable-Driven Parallel Platform for Underwater Camera Stabilization

• Main Authors: Zhiqi Zhao, Lei Zhang, Haijiao Nan, Binbin Wang
• Format: Article
• Language: English
• Published: IEEE 2021-01-01
• Series: IEEE Access
• Subjects: Cable-driven parallel robot; dynamic model; global fast terminal sliding mode control; underwater stabilized platform
• Online Access: https://ieeexplore.ieee.org/document/9547297/

Underwater camera platform’s low image stabilization accuracy and poor waterproofness seriously restrict the quality of photos. In order to better cope with underwater camera work, this paper proposes a cable-driven underwater camera stabilized platform. It is a mobile platform driven in parallel by four flexible cables. To improve image stabilization accuracy and anti-interference performance, the system’s dynamic model is established in a non-inertial reference frame. And the random water wave interference is modeled. Moreover, a novel double-loop integral-type global fast terminal sliding mode control strategy is designed. Lyapunov stability theory is used to analyze the stability of the strategy. Finally, by comparing with the existing global fast terminal sliding mode controller and traditional sliding mode controller, the designed controller is simulated and verified. The results show that the proposed control strategy not only has the advantages of fast response and robustness, but also has the characteristics of rapid convergence in a finite time and high accuracy. This method can provide a valuable reference for the development of underwater camera stabilized platforms.