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بیست و نهمین کنفرانس مهندسی برق ایران
Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs
نویسندگان :
Mohammad Reza Jafari Harandi
1
S. Ahmad Khalilpour
2
Hamid Taghirad
3
1- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
3- دانشگاه صنعتی خواجه نصیرالدین طوسی
کلمات کلیدی :
Passivity-based control, underactuated cable driven robot, robustness, bounded input
چکیده :
Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some partial differential equations. In this paper, IDA-PBC methodology is applied to a spatial 3-DOF underactuated cable driven robot. A robust term with respect to bounded matched disturbance is designed, positive tension in cables by suitable defining the parameters is considered and stability of the system is ensured by Lyapunov direct method. simulation results illustrate the effectiveness of the proposed controller.
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