Adaptive Fast Terminal Sliding Mode Control of A Suspended Cable-Driven Robot

Hosseini, Mohammad Isaac; Harandi, Mohammadreza Jafari; Khalilpour, S. A.; Taghirad, Hamid D.

doi:10.1109/iraniancee.2019.8786501

Cited by 14 publications

(1 citation statement)

References 22 publications

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“…22,23 Since one of the challenging parts in controller design for cable-driven robots is ensuring positive tension in cables, they are mostly redundantly actuated. 24 However, recently underactuated cable-driven robots are the topic of some researchers. [25][26][27][28] In Reference 25 a sliding mode controller has been designed for a 3-DOF planar underactuated cable-driven robot without considering positive tension in cables.…”

Section: Introductionmentioning

confidence: 99%

Adaptive interconnection and damping assignment passivity‐based control for an underactuated cable‐driven robot

Harandi

Taghirad

2021

Adaptive Control & Signal

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Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize underactuated mechanical systems by assigning the desired Hamiltonian to the system, which is obtained from the solution of partial differential equations. In this article, the IDA-PBC method is applied to an underactuated cable-driven robot to stabilize out-of-plane motion of the system. An adaptation law for the system's mass is designed such that asymptotic stability is ensured with positive tension in cables through the direct Lyapunov method. The results are verified through some simulations.

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