Citation

Hansali, Kholeid Salah and Mokhtari, Abdellah and Kacimi, Abderrahmane and Senoussaoui, Abderrahmane and Beloufa, Azeddine and Azzouz, Abdelbasset and Tiang, Jun Jiat (2026) Active Disturbance Rejection Control Combined with a Singular Perturbation Approach for Cable-Driven Parallel Robots with Elastic Cables. Robotics, 15 (9). p. 177. ISSN 2218-6581

Text robotics-15-00177.pdf - Published Version Restricted to Repository staff only Download (700kB)

Abstract

Cable elasticity is the principal obstacle to accurate positioning in large cable-driven parallel robots (CDPRs). The composite controller derived from singular perturbation theory addresses it by adding a vibration-damping correction to a rigid controller, but for a machine with long and highly compliant cables, the correction must be made strong: the velocity and damping gains

Item Type:	Article
Uncontrolled Keywords:	cable-driven parallel robot, active disturbance rejection control, extended state observer, elastic cables, singular perturbation, composite control, Lyapunov stability, IPAnema3
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions:	Faculty of Artificial Intelligence & Engineering (FAIE)
Depositing User:	Ms Suzilawati Abu Samah
Date Deposited:	29 Oct 2026 07:23
Last Modified:	29 Oct 2026 07:23
URII:	http://shdl.mmu.edu.my/id/eprint/17000

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