Authors: Arash Kiani; Kamaleddin Mousavi Mashhadi
Addresses: School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran ' School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
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.
Keywords: cable-driven robots; parallel robots; feedforward control; adaptive control; extended Kalman filter; EKF; robot control; controller design; robot dynamics; robot kinematics; position tracking; external disturbances; parameter variations.
International Journal of Modelling, Identification and Control, 2016 Vol.25 No.4, pp.249 - 260
Received: 12 Aug 2014
Accepted: 27 Aug 2015
Published online: 01 Jun 2016 *