Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2019

Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots

Abstract

A Model Predictive Control (MPC) strategy is proposed in this paper for large-dimension cable-driven parallel robots working at low speeds. The latter characteristic reduces the non-linearity of the system within the MPC prediction horizon. Therefore, linear MPC is applied and compared with two commonly used strategies: Sliding mode control and PID+ control. The simulations aim at comparing disturbance rejection performances and the results indicate a superior performance of the proposed controller. Indeed, MPC takes into account control limits (cable tension limits) directly in the control design which allows the controller to better exploit the robot capabilities. In addition, actuation redundancy is resolved as an integral part of the control strategy, instead of calculating the desired wrench and then applying a tension distribution method.
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Dates and versions

lirmm-02155794 , version 1 (13-06-2019)

Identifiers

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João Cavalcanti Santos, Ahmed Chemori, Marc Gouttefarde. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots. CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩. ⟨lirmm-02155794⟩
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