TY - JOUR
T1 - Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System
AU - Caverly, Ryan James
AU - Forbes, James Richard
AU - Mohammadshahi, Donya
PY - 2015/5/1
Y1 - 2015/5/1
N2 - In this paper, a lumped-mass dynamic model of a single degree of freedom cable-actuated system is derived, and passivity-based control is considered. The dynamic model developed takes into consideration the changing cable stiffness and mass as the cable is wrapped around a winch. In addition, the change in the winch inertia as the cable is wrapped around the winch is modeled. It is assumed that the mass of the payload is much greater than the mass of the cables and the equivalent mass of the winches, which allows for an approximation where the rigid dynamics can be decoupled from the elastic dynamics of the system. This approximation enables the definition of a modified input torque and modified output rate, allowing the establishment of passive input-output mappings. Passivity-based controllers are investigated, shown to render the closed-loop system input-output stable, and tested in simulation.
AB - In this paper, a lumped-mass dynamic model of a single degree of freedom cable-actuated system is derived, and passivity-based control is considered. The dynamic model developed takes into consideration the changing cable stiffness and mass as the cable is wrapped around a winch. In addition, the change in the winch inertia as the cable is wrapped around the winch is modeled. It is assumed that the mass of the payload is much greater than the mass of the cables and the equivalent mass of the winches, which allows for an approximation where the rigid dynamics can be decoupled from the elastic dynamics of the system. This approximation enables the definition of a modified input torque and modified output rate, allowing the establishment of passive input-output mappings. Passivity-based controllers are investigated, shown to render the closed-loop system input-output stable, and tested in simulation.
KW - cable-actuated systems
KW - lumped-mass model
KW - parallel manipulators
KW - passivity-based control
KW - proportional-integral-derivative (PID) control
KW - μ-tip rate
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U2 - 10.1109/TCST.2014.2347807
DO - 10.1109/TCST.2014.2347807
M3 - Article
AN - SCOPUS:85027947743
VL - 23
SP - 898
EP - 909
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
SN - 1063-6536
IS - 3
M1 - 6891234
ER -