Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot

Christian Schenk, Carlo Masone, Andreas Pott, Heinrich Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400% the mass of the end-effector.

Original languageEnglish
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
PublisherSpringer Netherlands
Pages254-267
Number of pages14
Volume53
ISBN (Print)9783319614304
DOIs
Publication statusPublished - 2018
Externally publishedYes
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: 2017 Aug 22017 Aug 4

Publication series

NameMechanisms and Machine Science
Volume53
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
CountryCanada
CityQuebec City
Period17/8/217/8/4

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Schenk, C., Masone, C., Pott, A., & Bulthoff, H. (2018). Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot. In Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots (Vol. 53, pp. 254-267). (Mechanisms and Machine Science; Vol. 53). Springer Netherlands. https://doi.org/10.1007/978-3-319-61431-1_22