Adaptive Robust Control of the Cable Driven System for Position Tracking

In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.