RT Conference Proceedings
T1 Rise feedback control of cable-driven parallel robots: 												Design and real-time experiments
A1 Hassan, G.
A1 Chemori, A.
A1 Chikh, L.
A1 Hervé, P. E.
A1 El Rafei, M.
A1 Francis, C.
A1 Pierrot, F.
AB 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.
SN 2405-8963
YR 2020
FD 2020
LA eng
NO 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
NO Publisher Copyright: Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
NO This work is supported by Tecnalia ”Pick and Throw” research project, the Lebanese University and the social foundation AZM and SAADE. This work is supported by Tecnalia?Pick and Throw? research project, the Lebanese University and the social foundation AZM and SAADE.
DS TECNALIA Publications
RD 1 sept 2024