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Active fault-tolerant control of cable-driven parallel robots

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Abstract

Cable-driven parallel robots (CDPRs) are a class of parallel robots where the cables are used as the arms of the robot in a redundant kinematic architecture. Such an architecture allows manipulation in a considerably large working area and also operation at high speed and acceleration. However, as cables only support tensile force, the controller should generate positive control effort, which leads to a complex constrained control problem. The positive tension distribution in redundant CDPR is generally maintained via redundancy resolution (RR) methods, which are originally optimization-based. The RR methods are prone to kinematic uncertainty, which brings complexity to the control apart from the original effects of kinematic uncertainty. The constrained control of CDPRs gets more complex in the faulty mode of the actuators. The combined effects of faulty actuators along with the kinematic uncertainty limit the application of RR in practice. To address this, a robust fault-tolerant constrained control scheme is proposed to generate an unidirectional control signal for maintaining positive tension in cables in the presence of actuator fault and model uncertainties, taking advantage of an adaptive finite-time sliding mode control along with a nonlinear adaptive observer. The proposed observer estimates the model uncertainties and the actuator fault, while the controller ensures the convergence of the state variables and compensates for the observer estimation error. The \(H_\infty \) asymptotic stability of the proposed observer is ensured through sufficient conditions using linear matrix inequality. Furthermore, Lyapunov’s second method is employed to prove the finite-time stability of the system. The performance of the proposed scheme is experimentally validated using a planar CDPR in the presence of actuator fault and model uncertainties.

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Funding

The authors received no financial support for the research, authorship and publication of this article.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Shahid Beheshti University, Tehran, Iran

    S. Mahdi Fazeli & Mostafa Abedi

  2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada

    Amir Molaei

  3. Department of Mechanical Engineering, Universite de Montreal, Montreal, QC, Canada

    Masoud Hassani

  4. Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran

    Mohammad A. Khosravi & Adel Ameri

Authors
  1. S. Mahdi Fazeli
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  2. Mostafa Abedi
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  3. Amir Molaei
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  4. Masoud Hassani
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  5. Mohammad A. Khosravi
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  6. Adel Ameri
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Contributions

[SMF], [MA], [AM], [MAK], [AA] helped in conceptualization, methodology and writing—review and editing; [SMF], [MA], [MAK], [AA] contributed to formal analysis and investigation; [SF], [MA], [AM], [MAK], [AA], [MH] wrote the original draft; [SMF] helped in resources; [MA], [MAK] supervised the study.

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Correspondence to Mostafa Abedi.

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Fazeli, S.M., Abedi, M., Molaei, A. et al. Active fault-tolerant control of cable-driven parallel robots. Nonlinear Dyn 111, 6335–6347 (2023). https://doi.org/10.1007/s11071-022-08184-x

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  • DOI: https://doi.org/10.1007/s11071-022-08184-x

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