Adaptive Robust Control of the Cable Driven System for Position Tracking

Bin Li, Liang Yan, Liqin Zhang, Christopher Gerada

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

1 Citation (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 languageEnglish
Title of host publicationProceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages253-257
Number of pages5
ISBN (Electronic)9781728151694
DOIs
Publication statusPublished - 9 Nov 2020
Externally publishedYes
Event15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 - Virtual, Kristiansand, Norway
Duration: 9 Nov 202013 Nov 2020

Publication series

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

Conference

Conference15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Country/TerritoryNorway
CityVirtual, Kristiansand
Period9/11/2013/11/20

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

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