Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots

• 作者: Ali Ghasemi
• 来源期刊: 现代机械工程(英文)
• 学科: 工学
• 关键词: CABLE ROBOTS INPUT-OUTPUT LINEARIZATION Linear model PREDICTIVE Control
• 年，卷（期）: 2011,（2）
• 页码范围: 69-76
• 页数: 8页
• 分类号: TP2

摘要

Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging compared to parallel robots. This paper introduces a controller for cable robots under force constraint. The controller is based on input-output linearization and linear model predictive control. Performance of input-output linearizing (IOL) controllers suffers due to constraints on input and output variables. This problem is successfully tackled by augmenting IOL controllers with linear model predictive controller (LMPC). The effecttiveness of the proposed method is illustrated by numerical simulation.