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Conference Paper

Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot

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Schenk,  C
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
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;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83839

Bülthoff,  HH
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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https://link.springer.com/content/pdf/10.1007%2F978-3-319-61431-1_22.pdf
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Citation

Schenk, C., Masone, C., Pott, A., & Bülthoff, H. (2017). Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot. In C. Gosselin, P. Cardou, T. Bruckmann, & A. Pott (Eds.), Cable-Driven Parallel Robots (pp. 254-267). Cham, Switzerland: Springer.


Cite as: https://hdl.handle.net/21.11116/0000-0000-C399-7
Abstract
In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400 the mass of the end-effector.