Open AccessConstrained Control of Fully-Constrained Cable-Driven Parallel Robots with Elastic Cables: An Optimal Robust Approach
Author(s) -
Hanie Marufkhani,
Mohammad A. Khosravi
Publication year - 2025
Publication title -
ieee access
Language(s) - English
Resource type - Magazines
SCImago Journal Rank - 0.587
H-Index - 127
eISSN - 2169-3536
DOI - 10.1109/access.2025.3574570
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
The paper discusses the robust optimal control of Cable-Driven Parallel Robots (CDPRs) with elastic cables, addressing the limitations of treating cables as rigid bodies. This simplification is inadequate for applications with large workspaces, where cable vibrations significantly affect performance. The proposed control strategy ensures that cables remain under tension by applying positive inputs, thus preventing compressive forces. The initial step involves transforming the nonlinear dynamics of the CDPR system, which includes both the elastic cables and motor dynamics, into a linear framework using State-Dependent Coefficient (SDC) parameterization. This allows for the retention of nonlinearities within the system and input matrices while encapsulating dynamic uncertainties and external disturbances. Subsequently, the constrained control is robustly designed utilizing optimization techniques rooted in Hamilton-Jacobi-Bellman (HJB) equations and Karush-Kuhn-Tucker (KKT) conditions. The robust optimal constrained controller is formulated using the Generalized State-Dependent Riccati Equation (GSDRE), followed by stability analysis conducted through Lyapunov's second method. Finally, the effectiveness of the proposed method is validated through simulations, demonstrating its capability to maintain cable tension and damp vibrations, which are critical for the operational efficiency of CDPRs in practical applications.