Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs

Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) is an approach to regulate the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some PDEs. In this paper, IDA-PBC is implemented on a spatial3-DOF underactuated cable driven manipulator. A robust term with respect to bounded matched disturbance is designed, non-negative tension in cables by appropriate desired potential energy is considered and stability of the system is ensured by a Lyapunov candidate. simulation results illustrate the effectiveness of the proposed controller.