Adaptive robust control of fully constrained cable robots: singular perturbation approach

摘要

In this paper, adaptive robust control of fully constrained cable-driven parallel robots with elastic cables is studied in detail. A composite controller is proposed for the system under the assumption of linear axial spring model as the dominant dynamics of the cables and in presence of model uncertainties. The proposed controller which is designed based on the singular perturbation theory, consists of two main parts. An adaptive robust controller is designed to counteract the unstructured and parametric uncertainties of the robot and a fast control term which is added to control the longitudinal vibrations of the cables. Moreover, to ensure that all cables remain in tension, the proposed control algorithm benefits from internal force concept. Using the results of the singular perturbation theory, the stability of the overall closed-loop system is analyzed through Lyapunov second method, and finally, the effectiveness of the proposed control algorithm is verified through some simulations on a planar cable-driven parallel robot.