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Adaptive Robust Control of a Cable-Driven Underwater Manipulator with Elastic Cables

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Robot Intelligence Technology and Applications 7 (RiTA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 642))

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Abstract

In this paper, the efficiency of a non-model-based robust-adaptive controller for the trajectory tracking of a cable-driven manipulator with elastic cables is studied. Therefore, the manipulator’s dynamics, considering the effect of fluid forces, are presented at first. Using a linear spring model for the cables, the effect of elasticity on system dynamics is then defined. Later, two controllers consisting of inverse dynamics and robust-adaptive are implemented into the system. The robust-adaptive controller’s performance is compared to the ID controller, which shows its effectiveness in dealing with the effect of cable elasticity on the trajectory tracking of the robot. Moreover, this controller compensates for the effect of robot and fluid uncertainties.

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Author information

Authors and Affiliations

  1. The University of Auckland, Auckland, New Zealand

    Mahmoud Zarebidoki

Authors
  1. Mahmoud Zarebidoki
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Correspondence to Mahmoud Zarebidoki .

Editor information

Editors and Affiliations

  1. School of Information and Communication Technology, Griffith University, Southport, Australia

    Jun Jo

  2. Department of Aerospace Engineering, KAIST, Daejeon, Korea (Republic of)

    Han-Lim Choi

  3. School of Information and Communication Technology, Griffith University, Southport, Australia

    Marde Helbig

  4. Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea (Republic of)

    Hyondong Oh

  5. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Jemin Hwangbo

  6. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Chang-Hun Lee

  7. School of Information and Communication Technology, Griffith University, Southport, Australia

    Bela Stantic

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Zarebidoki, M. (2023). Adaptive Robust Control of a Cable-Driven Underwater Manipulator with Elastic Cables. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_33

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