TY - GEN
T1 - Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot
AU - Schenk, Christian
AU - Masone, Carlo
AU - Pott, Andreas
AU - Bulthoff, Heinrich
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-319-61431-1_22
DO - 10.1007/978-3-319-61431-1_22
M3 - Conference contribution
AN - SCOPUS:85025816667
SN - 9783319614304
VL - 53
T3 - Mechanisms and Machine Science
SP - 254
EP - 267
BT - Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
PB - Springer Netherlands
T2 - 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
Y2 - 2 August 2017 through 4 August 2017
ER -