This paper addresses constrained optimal control of Cable-Driven Parallel Robots (CDPRs) in details. As it is known, in a CDPR mechanism, cables should remain in tension at all movement maneuvers in contrast to conventional robots. In this paper, considering this constraint, an optimal control scheme is presented for this class of robots. To this end, first, the general dynamic model of the CDPR is converted to state-dependent coefficient (SDC) linear structure. In this model, uncertainties of the cable robot are included as a vector in the SDC linear structure. Next, a constrained optimal control algorithm based on the Hamiltonian and Karush-Kuhn-Tucker (KKT) conditions is proposed using the state-dependent coefficient parameterization form. The proposed control scheme is formed based on the state-dependent Riccati equation (SDRE), and the stability of the closed-loop system is proved using Lyapunov second method. Simulation results show the effectiveness of the proposed control algorithm in terms of tracking and coping with the uncertainties and external disturbances.
Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
2021-06-01
17 pages
Article/Chapter (Book)
Electronic Resource
English