Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. The control objective is divided into three sub-obj...

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Bibliographic Details
Main Authors: Jiafeng Zhao, Yuanqin Qin, Chaocheng Hu, Guohua Xu, Kan Xu, Yingkai Xia
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Journal of Marine Science and Engineering
Subjects:
cable-driven parallel mechanism
linear model predictive control
robust adaptive backstepping controller
X−swapping method
dynamic minimum tension
Online Access:https://www.mdpi.com/2077-1312/11/6/1173

Internet

https://www.mdpi.com/2077-1312/11/6/1173

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