Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario - Ecole Centrale de Nantes
Article Dans Une Revue Meccanica Année : 2024

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

Résumé

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.
Fichier principal
Vignette du fichier
Meccanica2024_DiPaola_Zoppi_Caro_Design and performance investigation of a sliding‑mode_HAL.pdf (1.63 Mo) Télécharger le fichier
Origine Fichiers éditeurs autorisés sur une archive ouverte
licence

Dates et versions

hal-04862785 , version 1 (03-01-2025)

Licence

Identifiants

Citer

Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi. Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario. Meccanica, 2024, 59 (11), pp.1927 - 1937. ⟨10.1007/s11012-024-01875-2⟩. ⟨hal-04862785⟩
0 Consultations
0 Téléchargements

Altmetric

Partager

More