RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Hassan, G.; Chemori, A.; Chikh, L.; Hervé, P.E.; Rafei, M. El; Francis, C.; Pierrot, F.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 8519
• Page End: 8524
• Publication Date: 2020
• Subjects: RISE control -- sliding mode control -- PID control -- cable-driven parallel robot -- real-time experiments; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1420
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Control of Cable-Driven Parallel Robots (CDPRs) is considered as a challenging task due to their highly nonlinear dynamic behavior, abundant uncertainties, low-stiff cables, parameters variation, cable tensions, and actuation redundancy. Hence, a robust controller is needed to obtain higher performance despite the above mentioned issues. In this paper, we propose a Robust Integral of the Sign of the Error (RISE) control scheme to solve the problem of reference trajectory tracking. RISE feedback control is a robust nonlinear continuous controller which can guarantee a semi-global asymptotic tracking under limited assumptions on the system's structure. RISE ensures the closed-loop system robustness towards parametric uncertainties and external disturbances. The proposed control solution is designed and implemented in real-time experiments on a fully constrained 4-DOF Cable-Driven Parallel Robot (CDPR) named PICKABLE. The obtained experimental results show that the proposed controller outperforms the classical PID controller and the first-order Sliding Mode Control (SMC) in terms of tracking performances and robustness towards payload variations.