%0 Book Section %1 Schenk2018 %A Schenk, Christian %A Masone, Carlo %A Pott, Andreas %A Bülthoff, Heinrich H. %B Cable-driven Parallel Robots %D 2018 %K Import180214 imported myown %P 254-267 %T Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot %V 53 %X (C) Springer International Publishing AG 2018. In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400\% the mass of the end-effector. %@ 9783319614304

@incollection{Schenk2018, abstract = {(C) Springer International Publishing AG 2018. In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940 W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400{\%} the mass of the end-effector.}, added-at = {2018-02-14T08:37:06.000+0100}, author = {Schenk, Christian and Masone, Carlo and Pott, Andreas and B{\"u}lthoff, Heinrich H.}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/274eddf4a78cf1de1906ccb23723c790d/andreaspott}, booktitle = {Cable-driven Parallel Robots}, interhash = {3a13f8d4efb7a9782accd61b958790f2}, intrahash = {74eddf4a78cf1de1906ccb23723c790d}, isbn = {9783319614304}, keywords = {Import180214 imported myown}, pages = {254-267}, timestamp = {2018-02-14T08:01:20.000+0100}, title = {Application of a differentiator-based adaptive super-twisting controller for a redundant cable-driven parallel robot}, type = {Publication}, volume = 53, year = 2018 }