Robust Optimal Control for Cable-Driven Parallel Robots via Event-Triggered ADP

Based on adaptive dynamic programming (ADP) method and the event-triggered mechanism, this paper proposes a robust control method for the cable-driven parallel robots (CDPRs) with external disturbances and cable tension constraint. First, by introducing external disturbances into the performance index function, the robust control problem of CDPRs is transformed into the design of an optimal controller. Then, based on the event-triggered mechanism, the critic network, actor network, and disturbance network are constructed to approximate the performance index function, optimal controller, and external disturbance of the system respectively. Additionally, the null-space redistribution method is utilized to optimize the cable tension. Finally, the Lyapunov method is employed to demonstrate the stability of the closed-loop system, and the effectiveness and superiority of the event-triggered ADP control algorithm are verified through simulations.