RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments

• Published in: IFAC-PapersOnLine Vol. 53; no. 2; pp. 8519 - 8524
• Main Authors: Hassan, G., Chemori, A., Chikh, L., Hervé, P.E., Rafei, M. El, Francis, C., Pierrot, F.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 2020
• Subjects: cable-driven parallel robot; PID control; real-time experiments; RISE control; sliding mode control; cable-driven parallel robot; real-time experiments; RISE control; PID control; sliding mode control
• ISSN: 2405-8963; 2405-8963
• DOI: 10.1016/j.ifacol.2020.12.1420

Control of Cable-Driven Parallel Robots (CDPRs) is considered as a challenging task due to their highly nonlinear dynamic behavior, abundant uncertainties, low-stiff cables, parameters variation, cable tensions, and actuation redundancy. Hence, a robust controller is needed to obtain higher performance despite the above mentioned issues. In this paper, we propose a Robust Integral of the Sign of the Error (RISE) control scheme to solve the problem of reference trajectory tracking. RISE feedback control is a robust nonlinear continuous controller which can guarantee a semi-global asymptotic tracking under limited assumptions on the system’s structure. RISE ensures the closed-loop system robustness towards parametric uncertainties and external disturbances. The proposed control solution is designed and implemented in real-time experiments on a fully constrained 4-DOF Cable-Driven Parallel Robot (CDPR) named PICKABLE. The obtained experimental results show that the proposed controller outperforms the classical PID controller and the first-order Sliding Mode Control (SMC) in terms of tracking performances and robustness towards payload variations.