Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario

Abstract Controlling a cable-driven parallel robot (CDPR) when a cable breaks is challenging. In this paper, a sliding mode adaptive PID control is designed to ensure a safe guidance of the load when a cable fails. Indeed, regardless when a cable breaks, this control makes it possible enchanting the...

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Bibliographic Details
Published inMeccanica (Milan)
Main Authors Di Paola, Vincenzo, Caro, Stéphane, Zoppi, Matteo
Format Journal Article
LanguageEnglish
Published 09.09.2024
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Summary:Abstract Controlling a cable-driven parallel robot (CDPR) when a cable breaks is challenging. In this paper, a sliding mode adaptive PID control is designed to ensure a safe guidance of the load when a cable fails. Indeed, regardless when a cable breaks, this control makes it possible enchanting the guidance of the load inside the remaining wrench feasible workspace. In other words, it allows reducing the load oscillation and then increasing the safety of the recovery manoeuvre. Performances are evaluated through simulations by considering a spatial CDPR and comparing the results with a PID control.
ISSN:0025-6455
1572-9648
DOI:10.1007/s11012-024-01875-2