Linear quadratic optimal controller for cable-driven parallel robots

Abdolshah, Saeed; Barjuei, Erfan Shojaei

doi:10.1007/s11465-015-0364-8

Front. Mech. Eng.

2015

DOI: 10.1007/s11465-015-0364-8

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed Abdolshah

Erfan Shojaei Barjuei

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Cited by 15 publications

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“…Hence, the use of other sensors such as strain bridges or accelerometers are not required. The performance of the Kalman state observer has been examined in the simulation an experimental tests of a lifting task scenario by using a linear quadratic regulator (LQR) controller [24] with double integral action. The work, proposed and discussed in this paper, features a high level of originality, rather than the more conventional block diagram approach has been developed, presented and used to better analyze the behavior of the system.…”

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confidence: 99%

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Barjuei

Caldwell

Ortiz

2020

Designs

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This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the system dynamics. On the other hand, the design of the Kalman observer always should be based on a model providing an adequate description of the system dynamics; however, when back-support exoskeletons are considered, the synthesis of a state observer becomes very challenging, since only nonlinear models may be adopted to reproduce the system dynamic response with adequate accuracy. The dynamic modeling of the exoskeleton robotic platform, used in this work, comprises an electrical brushless DC motor, gearbox transmission, torque sensor and human trunk (biomechanical model). On this basis, a block diagram model of the dynamic system is presented and an experimental test has been carried out for identifying the system parameters accordingly. Both the block diagram and bond graph dynamic models are simulated via MATLAB and 20-sim software (bond graph simulation software) respectively. Furthermore, the possibility of employing the Kalman filter observer together with a suitable linear model is investigated. Subsequently, the performance of the proposed Kalman observer is evaluated in a lifting task scenario with the use of a linear quadratic regulator (LQR) controller with double integral action. Finally, the most important simulation results are presented and discussed.

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mentioning

confidence: 99%

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Barjuei

Caldwell

Ortiz

2020

Designs

Self Cite

View full text Add to dashboard Cite

show abstract

Supervisory adaptive fuzzy sliding mode control with optimal Jaya based fuzzy PID sliding surface for a planer cable robot

2022

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Improving performance of cable robots by adaptively changing minimum tension in cables

Abdolshah

Rosati

2017

Int. J. Precis. Eng. Manuf.

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Linear quadratic optimal controller for cable-driven parallel robots

Cited by 15 publications

References 16 publications

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Supervisory adaptive fuzzy sliding mode control with optimal Jaya based fuzzy PID sliding surface for a planer cable robot

Improving performance of cable robots by adaptively changing minimum tension in cables

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