Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator
Dynamics modeling and trajectory tracking control of a novel hybrid drive cable parallel manipulator （HDCPM） which has the advantages of both cable parallel mechanism and hybrid drive mechanism are investigated. A dynamics model for a HDCPM is established by using Lagrange method. For a HDCPM system...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.05.006 |
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| _version_ | 1841548876101713920 |
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| author | Jianbin Cao Mingsheng Wei Haixiao Zhao |
| author_facet | Jianbin Cao Mingsheng Wei Haixiao Zhao |
| author_sort | Jianbin Cao |
| collection | DOAJ |
| description | Dynamics modeling and trajectory tracking control of a novel hybrid drive cable parallel manipulator （HDCPM） which has the advantages of both cable parallel mechanism and hybrid drive mechanism are investigated. A dynamics model for a HDCPM is established by using Lagrange method. For a HDCPM system with nonlinear， time-varying characteristics and repetitive time-varying disturbance， an adaptive iterative learning control strategy， which controls gain variations with the iterations， is designed. By means of Lyapunvo function， the stability of the controller is proved. The numerical simulation results indicate that an expect trajectory tracking of the HDCPM is achieved by the adaptive iterative learning controller， which illustrates the correctness of the built dynamic model and the validity of proposed control strategy. |
| format | Article |
| id | doaj-art-fe294b9d13ec46b5800a3a3468ab3625 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-fe294b9d13ec46b5800a3a3468ab36252025-01-10T13:58:08ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-05-0146424730479891Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel ManipulatorJianbin CaoMingsheng WeiHaixiao ZhaoDynamics modeling and trajectory tracking control of a novel hybrid drive cable parallel manipulator （HDCPM） which has the advantages of both cable parallel mechanism and hybrid drive mechanism are investigated. A dynamics model for a HDCPM is established by using Lagrange method. For a HDCPM system with nonlinear， time-varying characteristics and repetitive time-varying disturbance， an adaptive iterative learning control strategy， which controls gain variations with the iterations， is designed. By means of Lyapunvo function， the stability of the controller is proved. The numerical simulation results indicate that an expect trajectory tracking of the HDCPM is achieved by the adaptive iterative learning controller， which illustrates the correctness of the built dynamic model and the validity of proposed control strategy.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.05.006Hybrid drive cable parallel manipulatorDynamic modelTrajectory trackingAdaptive iterative learning control |
| spellingShingle | Jianbin Cao Mingsheng Wei Haixiao Zhao Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator Jixie chuandong Hybrid drive cable parallel manipulator Dynamic model Trajectory tracking Adaptive iterative learning control |
| title | Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator |
| title_full | Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator |
| title_fullStr | Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator |
| title_full_unstemmed | Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator |
| title_short | Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator |
| title_sort | adaptive iterative learning control of hybrid drive cable parallel manipulator |
| topic | Hybrid drive cable parallel manipulator Dynamic model Trajectory tracking Adaptive iterative learning control |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.05.006 |
| work_keys_str_mv | AT jianbincao adaptiveiterativelearningcontrolofhybriddrivecableparallelmanipulator AT mingshengwei adaptiveiterativelearningcontrolofhybriddrivecableparallelmanipulator AT haixiaozhao adaptiveiterativelearningcontrolofhybriddrivecableparallelmanipulator |