Work

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

Year: 2024

Type: article

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.

Source: Meccanica

DOI: 10.1007/s11012-024-01875-2

Authors: Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi

Institutions: École Centrale de Nantes, Centre National de la Recherche Scientifique, Laboratoire des Sciences du Numérique de Nantes, University of Genoa, Nantes Université

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Estimated APC paid: $3,790