Abstract
This paper proposes a novel approach to the model reference adaptive control (MRAS) of a four-cable robot. A linear model is considered instead of the nonlinear model of cable-driven parallel robot system with assuming that the linear model parameters are unknown. Then, a simple control law and proper Lyapunov function are defined. Regarding to Lyapunov function, the proposed control ensures the stability of the closed-loop system. Finally, the properties of the proposed method such as performance tracking and rejecting external disturbance are demonstrated by simulations.
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