Modeling and optimal control of dual stage cable suspended robot considering the cables’ elasticity using State Dependent Riccati Equation (SDRE) approach

Moharam Habibnejad Korayem, Hami Tourajizadeh, Mohsen Nourizadeh, Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Mechanical Engineering Department, Faculty of Engineering, Kharazmi University

Journal of Vibration and Control

Published online on August 30, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
In this paper, the modeling of a new two-stage cable robot is developed, while the flexibility of the cables is also considered. The performance of this robot is controlled using a strong nonlinear optimal control based on state dependent Riccati equation ...