Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer

Table 1

Positions of P_i and B_i.

Symbol	Coordinate (mm)
P1	(−208, 78, −1)^T
P2	(−208, −78, −1)^T
P3	(0, −27.7, −10.1)^T
P4	(0, 27.7, −10.1)^T
P5	(0, 27.7, 10.1)^T
P6	(−208, 78, 1)^T
P7	(−208, −78, 1)^T
P8	(0, −27.7, 10.1)^T
B1	(200, 415, −1280)^T
B2	(200, −415, −1280)^T
B3	(−300, −308, −1250)^T
B4	(−300, 308, −1250)^T
B5	(−315, 315, −70)^T
B6	(160, 415, −70)^T
B7	(160, −415, −70)^T
B8	(−315, −315, −70)^T

The parameter values in Table 2 are used for simulation analysis.