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Conference Paper

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

MPS-Authors
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Schenk,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Masone,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-002A-4431-D
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.