Title: Lyapunov-based adaptive control of a cable-driven parallel robot

Authors: Arash Kiani; Seyed Kamal-e-ddin 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: This paper proposes a novel approach to the model reference adaptive control (MRAS) of a four-cable robot. A linear model is considered instead of the nonlinear model of cable-driven parallel robot system with assuming that the linear model parameters are unknown. Then, a simple control law and proper Lyapunov function are defined. Regarding to Lyapunov function, the proposed control ensures the stability of the closed-loop system. Finally, the properties of the proposed method such as performance tracking and rejecting external disturbance are demonstrated by simulations.

Keywords: cable-driven parallel robots; CDPRs; Lyapunov-based adaptive control.

DOI: 10.1504/IJAMECHS.2017.089604

International Journal of Advanced Mechatronic Systems, 2017 Vol.7 No.4, pp.193 - 201

Received: 21 Oct 2016
Accepted: 03 Mar 2017
Published online: 01 Feb 2018 *

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