Command filter backstepping control of a 2-DOF cable-driven manipulator

Abstract

This paper focuses on addressing the tracking problem of a 2-DOF cable-driven manipulator by employing a command filter backstepping control. In the 2-DOF cable-driven manipulator, both the manipulator dynamics and cable transmission dynamics are described in the manuscript. As a result, the manipulator becomes a fourth-order system, and the problem of “explosion of complexity” will arise when conventional backstepping control is applied to manage the system. To overcome this issue, a command filter backstepping control is proposed. A Lyapunov approach is investigated to demonstrate the stability and robustness of the whole system with the backstepping technique. Finally, some simulations are conducted on a 2-DOF cable-driven manipulator to verify the effectiveness of the proposed control.