@inproceedings{c2d8af1b0f264e6aad851cb1c06b792f,
title = "Robust adaptive sliding mode control of a redundant cable driven parallel robot",
abstract = "In this paper we consider the application problem of a redundant cable-driven parallel robot, tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using a recently proposed gains adaptation law [1], thus not requiring the knowledge of the upper bound of the lumped uncertainties. The controller is extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. Compared to a recently developed Adaptive Terminal Sliding Mode Controller for cable-driven parallel robots [2], the proposed controller manages to achieve lower tracking errors and less chattering in the actuation forces even in presence of perturbations. The system is implemented and tested in simulation using a model of a large redundant cable-driven robot and assuming noisy measurements. Simulations show the effectiveness of the proposed method.",
keywords = "Adaptive Control, Gain, Parallel Robots, Robust Control, Sliding mode control",
author = "Christian Schenk and Bulthoff, \{Heinrich H.\} and Carlo Masone",
year = "2015",
month = nov,
day = "5",
doi = "10.1109/ICSTCC.2015.7321331",
language = "English",
series = "2015 19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "427--434",
editor = "Marian Barbu and Razvan Solea and Sergiu Caraman",
booktitle = "2015 19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19",
note = "19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19 ; Conference date: 14-10-2015 Through 16-10-2015",
}