Title :
A Control Lyapunov Approach for Feedback Control of Cable-Suspended Robots
Author :
Oh, So-Ryeok ; Agrawal, Sunil K.
Author_Institution :
Dept. of Naval Archit. & Marine Eng., Michigan Univ., Ann Arbor, MI
Abstract :
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
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; feedback; nonlinear control systems; robot dynamics; asymptotic stability; cable-suspended robots; control Lyapunov functions; feedback control; Automatic control; Control systems; Feedback control; Lyapunov method; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Power cables; Robotics and automation; Robots; Cable Suspended Robot; Control Lyapunov Functions; Input Constraints;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364179