Adaptive Iterative Learning Control of Hybrid Drive Cable Parallel Manipulator

Abstract

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.

Keywords

• Hybrid drive cable parallel manipulator;Dynamic model;Trajectory tracking;Adaptive iterative learning control