A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

This article proposes a nonlinear model predictive control (NMPC) strategy for the position tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly cable tensions and their limits. Accordingly, tension distribution is performed as an integral part feedback strategy, which notably allows CDPR to operate on wrench-feasible workspace boundaries without failure. In order integrate minimization within formulation, concept wrench equivalent optimality (WEO) introduced. WEO nonnegative measure able evaluate if generated by given vector can be alternative with smaller 2-norm. redundancy resolution means enables stability closed-loop system proved. More precisely, sufficient conditions uniform asymptotic are deduced using results from analysis schemes terminal constraints costs. Furthermore, proposed validated experimentally fully constrained 6 degree-of-freedom CDPR.