Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot
Article dans une revue avec comité de lecture
Date
2019Journal
9th IFAC Conference MIM 2019Abstract
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.
Files in this item
- Name:
- LCFC_MIM_2019_KUMAR.pdf
- Size:
- 731.5Kb
- Format:
- Description:
- Input-Output Feedback Linearization ...
Related items
Showing items related by title, author, creator and subject.
-
Article dans une revue avec comité de lectureKUMAR, Atal Anil; ABBA, Gabriel; ANTOINE, Jean-François (Elsevier BV, 2020)This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees ...
-
Article dans une revue avec comité de lectureABBA, Gabriel; ANTOINE, Jean-François; SAUVEY, Christophe; VISA, Codrut (2004)This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is ...
-
Article dans une revue avec comité de lectureDUCOIN, Antoine; DENISET, François; ASTOLFI, Jacques Andre; SIGRIST, Jean-François (Elsevier, 2009)The present study is developed within the framework of marine structure design operating in transient regimes. It deals with an experimental and numerical investigation of the time–space distribution of the wall-pressure ...
-
Communication avec acteVIALE, Jérémy; NONY, Fabien; MAZABRAUD, Philippe; GERARD, Jean-François; DOULIN, Gwenaël; TCHARKHTCHI, Abbas (SpringerLink, 2008)Physical and chemical transformations of polyurethane thermoset are studied by means of thermal analysis, infrared spectrophotometer and dynamic rheology. Gel point, which limits the material flow, is given as a function ...
-
Article dans une revue avec comité de lectureQURESHI, Ahmed Jawad; ANTOINE, Jean-François; EISENBART, Boris; BLESSING, Lucienne; DANTAN, Jean-Yves (Elsevier, 2013)Uncertainty in product characteristics is ubiquitous in any engineering system at all the stages of product life-cycle. Considering uncertainty from different sources during the product design phase is critical to its ...