论文标题
基于自适应的被动率基于电缆驱动的平行机器人的姿势跟踪控制多种态度参数化
Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations
论文作者
论文摘要
所提出的控制方法使用基于自适应的基于馈电的控制器来为CDPR建立一个被动输入输出映射，该映射与线性不变的严格正面实际反馈控制器一起使用，以确保通过辐射定理进行稳健的闭环输入输出稳定性和非闭环姿势轨迹稳定性。所提出的控制器的新颖性是其用于与一系列有效载荷态度参数化的配方，包括任何无约束的姿态参数化，四元组或方向余弦矩阵（DCM）。通过用刚性和柔性电缆的CDPR进行数值模拟，证明了所提出的控制器的性能和鲁棒性。结果证明了仔细定义CDPR的姿势误差的重要性，CDPR的姿势误差是在使用Quaternion和dcm时以乘法方式执行的，并且在使用无约束的态度参数时（例如，Euler-andle-andle序列）时以特定的添加剂方式进行。
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust closed-loop input-output stability and asymptotic pose trajectory tracking via the passivity theorem. A novelty of the proposed controller is its formulation for use with a range of payload attitude parameterizations, including any unconstrained attitude parameterization, the quaternion, or the direction cosine matrix (DCM). The performance and robustness of the proposed controller is demonstrated through numerical simulations of a CDPR with rigid and flexible cables. The results demonstrate the importance of carefully defining the CDPR's pose error, which is performed in multiplicative fashion when using the quaternion and DCM, and in a specific additive fashion when using unconstrained attitude parameters (e.g., an Euler-angle sequence).
