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

Schenk, C., Bülthoff, H., & Masone, C. (2015). Robust adaptive sliding mode control of a redundant cable driven parallel robot. In S. Caraman, M. Barbu, & R. Şolea (Eds.), 19th International Conference on System Theory, Control and Computing (ICSTCC 2015) (pp. 427-434). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-002A-4431-D Version Permalink: http://hdl.handle.net/21.11116/0000-0000-81D6-C
Genre: Conference Paper

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 Creators:
Schenk, C1, Author              
Bülthoff, HH1, Author              
Masone, C1, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 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.

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 Dates: 2015-10
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ICSTCC.2015.7321331
BibTex Citekey: SchenkBM2015
 Degree: -

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Title: 19th International Conference on System Theory, Control and Computing (ICSTCC 2015)
Place of Event: Cheile Gradistei, Romania
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Title: 19th International Conference on System Theory, Control and Computing (ICSTCC 2015)
Source Genre: Proceedings
 Creator(s):
Caraman, S., Editor
Barbu, M., Editor
Şolea, R., Editor
Affiliations:
-
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 427 - 434 Identifier: ISBN: 978-1-4799-8481-7