RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2020

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

Lotfi Chikh
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  • PersonId : 868263
Pierre-Elie Hervé
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  • PersonId : 1034068
Maher El Rafei
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  • PersonId : 1061038
Clovis Francis
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  • PersonId : 859784

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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Dates and versions

lirmm-02899141 , version 1 (14-07-2020)

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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. IFAC-V 2020 - 1st Virtual IFAC World Congress, Jul 2020, Berlin, Germany. pp.8519-8524, ⟨10.1016/j.ifacol.2020.12.1420⟩. ⟨lirmm-02899141⟩
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