Flexible Cable-Driven parallel manipulator control: Maintaining positive cable tensions

Ryan James Caverly, James Richard Forbes

Research output: Contribution to journalArticlepeer-review

33 Scopus citations


In this brief, a planar cable-driven parallel manipulator is controlled using a strictly positive real compensator, cable pretension is explicitly accounted for, and cable slack is avoided. A strictly positive real controller is implemented using actuator saturation prevention techniques and the solution to a linear programming problem to ensure that the cable tensions remain strictly positive. Pretension torque is directly accounted for when determining the input-output stability of the closed-loop system. Numerical simulations demonstrate that the controller can track high-acceleration trajectories with the same precision as a state-of-the-art controller from the literature, while maintaining positive cable tensions.

Original languageEnglish (US)
Article number8000365
Pages (from-to)1874-1883
Number of pages10
JournalIEEE Transactions on Control Systems Technology
Issue number5
StatePublished - Sep 2018

Bibliographical note

Publisher Copyright:
© 1993-2012 IEEE.


  • Cable slack
  • cable-driven parallel manipulator (CDPM)
  • flexible cables
  • linear programming
  • load-sharing parameters
  • passivity-based control
  • positive cable tension
  • strictly positive real (SPR) control


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