A Control Lyapunov Approach for Feedback Control of Cable-Suspended Robots

This paper considers a feedback control technique for cable suspended robots under input constraints, using control Lyapunov functions (CLF). The motivation for this work is to develop an explicit feedback control law for cable robots to asymptotically stabilize it to a goal point with positive input constraints. The main contributions of this paper are as follows: (i) proposal for a CLF candidate for a cable robot, (ii) a CLF based positive controllers for multiple inputs. An example of a three degrees-of-freedom cable suspended robot is presented to illustrate the proposed methods