Robust Adaptive Control of Over-Constrained Actuated Cable-Driven Parallel Robots
This paper proposes a robust adaptive controller for cable-driven parallel robots subject to dynamic uncertainties. The main objective is to study the performance of the proposed controller on these systems designed based on function approximation technique (FAT). Compared to the previous adaptive control strategies, the proposed controller is simpler, and does not require prior knowledge of the uncertainties upper bound, linear parameterization of the kinematic and dynamic models. The reason is that FAT estimators consider the uncertainty as a time-varying function rather than a function of different state variables. To ensure that all the cables are in tension, internal force concept is used in the proposed adaptive control algorithm. Stability of the whole system is analyzed through a Lyapunov-based method, and the uniformly ultimately bounded stability is guaranteed. Simulation studies on a planer cable-driven parallel robot indicate the effectiveness of proposed method.
KeywordsCable-driven parallel robot function approximation technique robust adaptive control
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