On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

摘要

In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuro- adaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.