Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot

被引：9
|
作者：
Harandi, M. Reza J. [1 ]
Taghirad, Hamid D. [1 ]
机构：
[1] KN Toosi Univ Technol, Fac Elect Engn, Adv Robot & Automated Syst ARAS, Tehran, Iran
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2021年 / 35卷 / 12期
关键词：
adaptive control; bounded input; IDA-PBC; underactuated cable-driven robot; MECHANICAL SYSTEMS; GLOBAL REGULATION; IDA-PBC; MANIPULATORS;
D O I：
10.1002/acs.3332
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize underactuated mechanical systems by assigning the desired Hamiltonian to the system, which is obtained from the solution of partial differential equations. In this article, the IDA-PBC method is applied to an underactuated cable-driven robot to stabilize out-of-plane motion of the system. An adaptation law for the system's mass is designed such that asymptotic stability is ensured with positive tension in cables through the direct Lyapunov method. The results are verified through some simulations.
引用
收藏
页码：2487 / 2498
页数：12
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