In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400% the mass of the end-effector.
Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot / Schenk, C.; Masone, C.; Pott, A.; Bulthoff, H. H. (MECHANISMS AND MACHINE SCIENCE). - In: Mechanisms and Machine ScienceCham (Switzerland) : Springer, 2018. - ISBN 978-3-319-61430-4. - pp. 254-267 [10.1007/978-3-319-61431-1_22]
Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot
Masone C.;
2018
Abstract
In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400% the mass of the end-effector.File | Dimensione | Formato | |
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2018_Application of a Differentiator-Based Adaptive Super-Twisting Controller.pdf
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https://hdl.handle.net/11583/2975837