Original scientific paper

https://doi.org/10.7305/automatika.2017.02.1793

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

Mojtaba Hadi Barhaghtalab ; Department of Electrical Engineering, School of Engineering, Persian Gulf University, Bushehr, Iran
Hassan Bayani ; Mechatronic Engineering, FNST, University of Tehran, Tehran
Armin Nabaei ; Azad University, Tehran, Iran
Houman Zarrabi ; ICT Research Institute, Tehran, Iran
Ali Amiri ; Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran

Abstract

In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuro-adaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.

Keywords

Robust control; Adaptive law; neural network; Cable-driven Parallel Robot

Hrčak ID:

180703

URI

https://hrcak.srce.hr/180703

Publication date:

23.3.2017.

Article data in other languages: croatian

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