Adaptive Robust Control of the Cable Driven System for Position Tracking

Bin Li; Liang Yan; Liqin Zhang; Christopher Gerada

doi:10.1109/ICIEA48937.2020.9248385

Adaptive Robust Control of the Cable Driven System for Position Tracking

Bin Li, Liang Yan, Liqin Zhang, Christopher Gerada

Nottingham Electrification Centre

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.

Original language	English
Title of host publication	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	253-257
Number of pages	5
ISBN (Electronic)	9781728151694
DOIs	https://doi.org/10.1109/ICIEA48937.2020.9248385
Publication status	Published - 9 Nov 2020
Event	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 - Virtual, Kristiansand, Norway Duration: 9 Nov 2020 → 13 Nov 2020

Publication series

Name	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

Conference

Conference	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Country/Territory	Norway
City	Virtual, Kristiansand
Period	9/11/20 → 13/11/20

Keywords

adaptive robust control
cable driven system
position tracking
tension distribution

ASJC Scopus subject areas

Computer Networks and Communications
Energy Engineering and Power Technology
Renewable Energy, Sustainability and the Environment
Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICIEA48937.2020.9248385

Cite this

Li, B., Yan, L., Zhang, L., & Gerada, C. (2020). Adaptive Robust Control of the Cable Driven System for Position Tracking. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 (pp. 253-257). Article 9248385 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA48937.2020.9248385

Li, Bin ; Yan, Liang ; Zhang, Liqin et al. / Adaptive Robust Control of the Cable Driven System for Position Tracking. Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 253-257 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

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title = "Adaptive Robust Control of the Cable Driven System for Position Tracking",

abstract = "In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.",

keywords = "adaptive robust control, cable driven system, position tracking, tension distribution",

author = "Bin Li and Liang Yan and Liqin Zhang and Christopher Gerada",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 ; Conference date: 09-11-2020 Through 13-11-2020",

year = "2020",

month = nov,

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doi = "10.1109/ICIEA48937.2020.9248385",

language = "English",

series = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

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Li, B, Yan, L, Zhang, L & Gerada, C 2020, Adaptive Robust Control of the Cable Driven System for Position Tracking. in Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020., 9248385, Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 253-257, 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Virtual, Kristiansand, Norway, 9/11/20. https://doi.org/10.1109/ICIEA48937.2020.9248385

Adaptive Robust Control of the Cable Driven System for Position Tracking. / Li, Bin; Yan, Liang; Zhang, Liqin et al.
Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 253-257 9248385 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive Robust Control of the Cable Driven System for Position Tracking

AU - Li, Bin

AU - Yan, Liang

AU - Zhang, Liqin

AU - Gerada, Christopher

PY - 2020/11/9

Y1 - 2020/11/9

N2 - In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.

AB - In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.

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KW - position tracking

KW - tension distribution

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T3 - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

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BT - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

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Li B, Yan L, Zhang L, Gerada C. Adaptive Robust Control of the Cable Driven System for Position Tracking. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 253-257. 9248385. (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). doi: 10.1109/ICIEA48937.2020.9248385

Adaptive Robust Control of the Cable Driven System for Position Tracking

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

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