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Lyapunov stability of cable-driven manipulators with synthetic fibre cables regulated by non-linear full-state

Lorenzo De Mari Casareto Dal Verme1, Daniele Ludovico2, Alessandro Pistone2

  • 1Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Unversità di Genova, Via Balbi, 5, Genova, 16126, Italy; Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Via Morego, 30, Genova, 16163, Italy.

ISA Transactions
|September 6, 2023
PubMed

Keywords:
Cable-driven manipulatorsControl engineeringFour elements modelFull-state feedback controlLyapunov methods

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