Discontinuous finite-time control for Cable Driven Parallel Robots
2020
This paper investigates the problem of finite-time stability for cable-driven parallel robots (CDPRs) by discontinuous sliding mode controllers. In this study, we propose a new control law for actuators that can only pull, but not push the robot moving platform. However, this control guarantees the finite-time stability of the robot. The effects of better control performance are shown by numerical simulation.
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