Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots
Ali Ghasemi
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DOI: 10.4236/mme.2011.12009   PDF    HTML     8,593 Downloads   14,211 Views   Citations

Abstract

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.

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A. Ghasemi, "Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots," Modern Mechanical Engineering, Vol. 1 No. 2, 2011, pp. 69-76. doi: 10.4236/mme.2011.12009.

Conflicts of Interest

The authors declare no conflicts of interest.

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