Robust trajectory tracking control for cable-driven parallel robots with model uncertainty

摘要

This paper is concerned with robust trajectory tracking control for cable-driven parallel robots (CDPRs) with uncertain dynamics. A new accurate trajectory tracking controller (ATTC) is proposed such that the pose of the mobile platform of CDPRs can accurately track a desired trajectory. To further alleviate the input chattering phenomenon, a practical trajectory tracking controller (PTTC) is designed to guarantee the trajectory tracking error is converged to a small neighborhood of the origin. Finally, an illustrative example on a 3-Cable 3-DOF CDPR is provided to evaluate the performance of both ATTC and PTTC, including a comparison study against a typical synchronization controller, which verifies the effectiveness of the proposed controllers.