Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
Gerry Chen,Seth Hutchinson,Frank Dellaert,Gerry Chen,Seth Hutchinson,Frank Dellaert
We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast to many methods which use fixed feedback gains, our time-varying controller computes the optimal gains depending on the location in the workspace and the future trajectory. Meanwhile, we rely heavily on offline computatio...
