Adaptive Control of a Spatial 3-Degree-of-Freedom Cable-Driven Parallel Robot with Kinematic and Dynamic Uncertainties

Ji, Hao; Shang, Weiwei; Cong, Shuang

doi:10.1109/icarm49381.2020.9195385

Cited by 4 publications

(4 citation statements)

References 17 publications

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“…Although exciting results have been obtained with AST-NFTSM control schemes, the tension constraint and coordination control between winches are ignored. Ji et al [23] proposed a novel adaptive control scheme to simultaneously handle the kinematic and dynamic uncertainties, which performed high-precision tracking tasks. The linear expressions of kinematic and dynamic models and adaptation laws were derived through gradient descent.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Zhao

Qin

et al. 2023

JMSE

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This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. The control objective is divided into three sub-objectives: motion tracking, horizontal displacement suppression, and cable-tension restriction. A linear model predictive control (LMPC) method is designed to plan cable tensions for motion-tracking and displacement suppression. The robust adaptive backstepping controller converts cable tension into winch speed based on the joint-space method and command filtering. Moreover, the X−swapping method is used to linearize and identify the time−varying nonlinear parameters. An essential prerequisite for restricting cable tension is to obtain cable-tension constraint values. A novel dynamic minimum tension control (DMTC) method, based on the equivalent control concept, is proposed for this aim. The DMTC can adaptively obtain the lower cable-tension threshold through the platform posture and motion status, anchor distribution position, and cable integrity status. Compared to traditional fixed tension constraint values, DMTC can more effectively cope with sudden changes in cable tension than fixed tension constraints. Finally, several simulations are carried out to verify the effectiveness and robustness of the proposed approach.

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Section: Introductionmentioning

confidence: 99%

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Zhao

Qin

et al. 2023

JMSE

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“…Ramı´rez-Neria et al (2015) proposed a generalized proportional-integral (GPI) observer to estimate the lumped disturbance inputs and the phase variable of linear multivariable output feedback scheme, so the exact information of delta parallel robot system is not necessary. On the contrary, in conventional nonlinear controllers such as backstepping, SMC, a fuzzy logic controller accompanied by an adaptive law is usually integrated, which utilizes the mathematical characteristics and logic rules to effectively calculate the unknown components and track their change (Godbole et al, 2019;Ji et al, 2020). In fuzzy logic controller literature, adaptive law is paramount in adjusting fuzzy parameters since the external disturbance, and parameter perturbation typically are unknown and very arbitrarily.…”

Section: Introductionmentioning

confidence: 99%

“…1. The proposed method is able to cope with the problem of controller design for the CDS considering the input and system constraints which are typically neglected in many studies, especially conventional nonlinear controllers (Ji et al, 2020;Lu et al, 2018;Tian, 2021). Theoretically, if these constraints are not adequately handled in the control formulation, the overall stability cannot be guaranteed; moreover, the signal generated by the controller can exceed the system actuator capacity if control parameters are not moderately determined.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy Lyapunov-based model predictive control for parallel platform driving simulators

Mạnh

Nguyen

Duy

et al. 2022

Transactions of the Institute of Measurement and Control

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The paper proposes an adaptive Lyapunov-based nonlinear model predictive control (MPC) to cope with the problems in nonlinear systems subjecting to system constraints and unknown disturbances of the parallel car driving simulator. Commonly, standard nonlinear controllers could guarantee the overall system stability for the parallel structure. However, the constraints tend to impact the control performance and stability adversely. Therefore, MPC plays a vital role in the proposed technique to explicitly consider all the practical constraints and simultaneously enhance the system’s robustness. Nevertheless, the accuracy of the modeling process has a significant effect on the MPC performance, and thus, the convergence cannot be guaranteed in the presence of the model uncertainties. To overcome this problem, by the merit of the fuzzy adaptive law, the control system takes the disturbances and unmodelled parameters into account. Moreover, the feasibility and stability of the approach, which is the fundamental problem of MPC, are ensured according to the Lyapunov-based nonlinear controller, backstepping aggregated with sliding mode control (SMC), and hence inherit advantages of these controls. Simulation results show the efficiency and superior constituted controllers of the proposed method.

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“…Various studies have been carried out dealing with the design [15], control [16][17][18] and the structural optimization of CDPRs. In [19], Lorenzo et al studied the optimal position of the cable exit points allowing minimization of CDPR size for fully constrained and suspended configurations.…”

Section: Introductionmentioning

confidence: 99%

Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

et al. 2021

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This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion capture system was used to record the prescribed task performed by a healthy subject. For each pose taken by the center of mass of the end-effector, the cable tensions, the elastic stiffness and the dexterity were optimized while satisfying a set of constraints. First, a multiobjective formulation of the optimization problem was adopted. Since selecting a single solution among the multiple ones given by the Pareto front presents an issue, a mono-objective formulation was chosen, where the objective function was defined as a weighted sum of the chosen criteria. The appropriate values of the weighted coefficients were studied with the aim of identifying their influence on the optimization process and, thus, a judicious choice was made. A prototype of the optimal design of the CDPR was developed and validated experimentally on the prescribed workspace using the position control approach for the motors. The tests showed promising reliability of the proposed design for the task.

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Adaptive Control of a Spatial 3-Degree-of-Freedom Cable-Driven Parallel Robot with Kinematic and Dynamic Uncertainties

Cited by 4 publications

References 17 publications

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Adaptive fuzzy Lyapunov-based model predictive control for parallel platform driving simulators

Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

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