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RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments

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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02899141
Contributor : Ghina Hassan <>
Submitted on : Tuesday, July 14, 2020 - 10:00:16 PM
Last modification on : Friday, July 17, 2020 - 10:22:02 AM

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Ghina Hassan, Ahmed Chemori, Lotfi Chikh, Pierre-Elie Hervé, Maher El Rafei, et al.. RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments. 1st Virtual IFAC World Congress (IFAC-V), Jul 2020, Berlin, Germany. ⟨lirmm-02899141⟩

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