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The proposed control method uses an adaptive feedforward-based controller toestablish a passive input-output mapping for the CDPR that is used alongside alinear time-invariant strictly positive real feedback controller to guaranteerobust closed-loop input-output stability and asymptotic pose trajectorytracking via the passivity theorem. A novelty of the proposed controller is itsformulation for use with a range of payload attitude parameterizations,including any unconstrained attitude parameterization, the quaternion, or thedirection cosine matrix (DCM). The performance and robustness of the proposedcontroller is demonstrated through numerical simulations of a CDPR with rigidand flexible cables. The results demonstrate the importance of carefullydefining the CDPR's pose error, which is performed in multiplicative fashionwhen using the quaternion and DCM, and in a specific additive fashion whenusing unconstrained attitude parameters (e.g., an Euler-angle sequence).

Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations