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Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot

: Schenk, C.; Masone, C.; Pott, A.; Bülthoff, H.H.


Gosselin, Clément ; International Federation for the Promotion of Mechanism and Machine Science:
Cable-driven parallel robots : Proceedings of the Third International Conference on Cable-Driven Parallel Robots, August 2-4, 2017, Quebec City, Canada
Cham: Springer International Publishing, 2018 (Mechanisms and Machine Science 53)
ISBN: 978-3-319-61430-4 (Print)
ISBN: 978-3-319-61431-1 (Online)
ISBN: 3-319-61430-4
International Conference on Cable-Driven Parallel Robots (CableCon) <3, 2017, Quebec>
Conference Paper

In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400% the mass of the end-effector.