Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots英文文献资料.docVIP

Modern Mechanical Engineering, 2011, 1, 69-76 doi:10.4236/mme.2011.12009 Published Online November 2011 (http://www.SciRP.org/journal/mme) Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots Ali Ghasemi Member of Young Researchers Club, Science and Research Branch, Islamic Azad University, Tehran, Iran E-mail: ali.ghasemi.g@ Received September 3, 2011; revised October 13, 2011; accepted October 25, 2011 Abstract Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging com- pared to parallel robots. This paper introduces a controller for cable robots under force constraint. The con- troller is based on input-output linearization and linear model predictive control. Performance of input-output linearizing (IOL) controllers suffers due to constraints on input and output variables. This problem is suc- cessfully tackled by augmenting IOL controllers with linear model predictive controller (LMPC). The effect- tiveness of the proposed method is illustrated by numerical simulation. Keywords: Cable Robots, Input-Output Linearization, Linear Model Predictive Control 1. Introduction motors and updating the control system accordingly; and, 6) economical construction and maintenance due to few moving parts and relatively simple components [6,7]. Con- sequently, cable robots are exceptionally well suited for many applications such as handling of heavy materials, inspection and repair in shipyards and airplane hangars, high-speed manipulation, rapidly deployable rescue robots, cleanup of disaster areas, and access to remote locations and interaction with hazardous environments [6-12]. For these applications conventional serial or parallel robots are impractical due to their limited workspace. However, cables have the unique