Adaptive feedforward control of a cable-driven parallel robot: Samen SpaceCam
by Arash Kiani; Kamaleddin Mousavi Mashhadi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 25, No. 4, 2016

Abstract: In this study, a novel adaptive feedforward control scheme for rejecting external disturbance and insensitivity to variation parameter system is discussed. In order to design the controller, dynamic equations and Jacobin matrix of Samen SpaceCam robot are needed. Thus, dynamic and kinematic equations of the cable robot are derived. Then the nonlinear equation of system is linearised. A feedforward control law and proper Lyapunov function are defined for design controller. Lastly, the performance and properties of the proposed controller such as desired position tracking, rejection of external disturbance, for example wind, and parameter variations of the system are studied in detail.

Online publication date: Wed, 01-Jun-2016

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com