A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

This article proposes a nonlinear model predictive control (NMPC) strategy for the position tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly the cable tensions and their limits. Accordingly, the cable tension distribution is performed as an integral part of t...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2022-08, Vol.38 (4), p.2597-2616
Main Authors: Santos, Joao Cavalcanti, Gouttefarde, Marc, Chemori, Ahmed
Format: Article
Language:English
Subjects:
Automatic
Cable-driven parallel robots (CDPRs)
Closed loop systems
Cost analysis
Costs
Engineering Sciences
Feedback control
model predictive control
Nonlinear control
Nonlinear dynamical systems
Optimization
Power cables
Predictive control
Real-time systems
Redundancy
Robots
Stability analysis
Terminal constraints
Tracking control
Trajectory
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This article proposes a nonlinear model predictive control (NMPC) strategy for the position tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly the cable tensions and their limits. Accordingly, the cable tension distribution is performed as an integral part of the NMPC feedback control strategy, which notably allows the CDPR to operate on the wrench-feasible workspace boundaries without failure. In order to integrate the cable tension minimization within the NMPC formulation, the concept of wrench equivalent optimality (WEO) is introduced. The WEO is a nonnegative measure able to evaluate if the wrench generated by a given cable tension vector can be generated by an alternative tension vector with smaller 2-norm. The redundancy resolution performed by means of the minimization of the WEO enables the stability of the closed-loop system to be proved. More precisely, sufficient conditions for the uniform asymptotic stability are deduced using results from the analysis of NMPC schemes without terminal constraints and costs. Furthermore, the proposed NMPC strategy is validated experimentally on a fully constrained 6 degree-of-freedom CDPR.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2022.3152705