English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
Add to Basket
  DetailsSummary

Released
Conference Paper

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

MPS-Authors
/persons/resource/persons192734

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

/persons/resource/persons83839

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

/persons/resource/persons84078

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

External Resource

http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=arnumber=7321331
(Publisher version)

Fulltext (restricted access)
There are currently no full texts shared for your IP range.
Fulltext (public)
There are no public fulltexts stored in PuRe
Supplementary Material (public)
There is no public supplementary material available
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: https://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.