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Robust cascade control of a deployable cable-driven robot
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DOI：10.1016/j.ymssp.2019.03.010.png)
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摘要
En 中文
In this paper, we derive the dynamic formulation of a deployable cable-driven robot that considers models of the actuator and power transmission systems, and we investigate the challenges of structural uncertainty. To accommodate the inherent uncertainty of the system, we propose a proper control topology based on a cascade structure. The inner loop of the structure controls the cable forces, and the outer loop tracks the precise position of the robot's end-effector. For the design of the outer loop controller, we propose a robust sliding mode controller with a stability analysis that is based on the Lyapunov direct method. The main contribution of this paper is to analyze the stability of the system as a whole considering both the inner and outer loop controllers. Finally, in order to illustrate the performance of the proposed controller, we present the results of an experiment on a deployable suspended cable-driven robot, which shows the effectiveness of the proposed controller in the presence of the inherent uncertainties of the system. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword:
Cable-driven parallel manipulator
Robust control
Sliding mode control
Force sensor
Cascade topology
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期刊
IF:
8.9
论文数:
1.3W
被引数:
6.6W
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Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models具有运动学，动力学和执行器模型不确定性的机器人的自适应Jacobian跟踪控制
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