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Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot

Article dans une revue avec comité de lecture
Author
KUMAR, Atal Anil
ABBA, Gabriel
ANTOINE, Jean-François
107452 Laboratoire de Conception Fabrication Commande [LCFC]

URI
http://hdl.handle.net/10985/20275
DOI
10.1016/j.ifacol.2019.11.154
Date
2019
Journal
9th IFAC Conference MIM 2019

Abstract

This paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the CDPR is first formulated by taking into account the Euler angle rates. Following this the input-output feedback linearization method is implemented to decouple the output and input. A linear feedback controller is then designed using pole placement method to control the CDPR. The control law is then verified by simulation using MATLAB software. Simple trajectories are then tested with and without the presence of noise to analyze the behavior of the control law.

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