Robust adaptive sliding mode control of a redundant cable driven parallel robot

Christian Schenk, Heinrich Bulthoff, Carlo Masone

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

5 Citations (Scopus)

Abstract

In this paper we consider the application problem of a redundant cable-driven parallel robot, tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using a recently proposed gains adaptation law [1], thus not requiring the knowledge of the upper bound of the lumped uncertainties. The controller is extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. Compared to a recently developed Adaptive Terminal Sliding Mode Controller for cable-driven parallel robots [2], the proposed controller manages to achieve lower tracking errors and less chattering in the actuation forces even in presence of perturbations. The system is implemented and tested in simulation using a model of a large redundant cable-driven robot and assuming noisy measurements. Simulations show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2015 19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages427-434
Number of pages8
ISBN (Print)9781479984817
DOIs
Publication statusPublished - 2015 Nov 5
Externally publishedYes
Event19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19 - Cheile Gradistei
Duration: 2015 Oct 142015 Oct 16

Other

Other19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19
CityCheile Gradistei
Period15/10/1415/10/16

Keywords

  • Adaptive Control
  • Gain
  • Parallel Robots
  • Robust Control
  • Sliding mode control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence
  • Information Systems
  • Signal Processing

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  • Cite this

    Schenk, C., Bulthoff, H., & Masone, C. (2015). Robust adaptive sliding mode control of a redundant cable driven parallel robot. In 2015 19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19 (pp. 427-434). [7321331] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSTCC.2015.7321331