Rise feedback control of cable-driven parallel robots: Design and real-time experiments
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2020
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Control of Cable-Driven Parallel Robots (CDPRs) is considered as a challenging task due to their highly nonlinear dynamic behavior, abundant uncertainties, low-stiff cables, parameters variation, cable tensions, and actuation redundancy. Hence, a robust controller is needed to obtain higher performance despite the above mentioned issues. In this paper, we propose a Robust Integral of the Sign of the Error (RISE) control scheme to solve the problem of reference trajectory tracking. RISE feedback control is a robust nonlinear continuous controller which can guarantee a semi-global asymptotic tracking under limited assumptions on the system's structure. RISE ensures the closed-loop system robustness towards parametric uncertainties and external disturbances. The proposed control solution is designed and implemented in real-time experiments on a fully constrained 4-DOF Cable-Driven Parallel Robot (CDPR) named PICKABLE. The obtained experimental results show that the proposed controller outperforms the classical PID controller and the first-order Sliding Mode Control (SMC) in terms of tracking performances and robustness towards payload variations.
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Publisher Copyright: Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
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Hassan , G , Chemori , A , Chikh , L , Hervé , P E , El Rafei , M , Francis , C & Pierrot , F 2020 , ' Rise feedback control of cable-driven parallel robots : Design and real-time experiments ' , IFAC-PapersOnLine , vol. 53 , no. 2 , pp. 8519-8524 . https://doi.org/10.1016/j.ifacol.2020.12.1420