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<p>To address dynamic impacts, complex environmental disturbances, and multi-parameter tuning issues of the cable-driven parallel robots system in underground hoisting, a composite control strategy combining a cross-space real-time anti-disturbance method and the soft actor-critic (SAC) algorithm is proposed. Due to the harsh underground environment, real-time accurate measurement of task-space end-position info is difficult. Traditional methods can’t effectively compensate for external disturbances without known end positions. Thus, a cross-space disturbance rejection control (CDRC) method is designed, converting task-space dynamic couplings and disturbances into cross-space lumped disturbances for compensation. Then, to tackle the problems of many anti-disturbance controller parameters and difficult manual tuning, SAC algorithm is introduced for adaptive parameter optimization, building a cross-space SAC disturbance rejection controller (SAC-CDRC). Trajectory tracking and disturbance tests demonstrate that compared with traditional methods, the proposed SAC-CDRC can achieve anti-disturbance control without end feedback, with significant advantages in dynamic performance and anti-disturbance ability.</p>

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Experimental study on SAC-based real-time disturbance rejection method and multi-parameter tuning for cross-space cable-driven parallel robot in underground mines

  • 期刊论文

  • 发表日期：

    2026年7月11日

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  • Laiyuan Li,
  • Zhaohong Wu,
  • Weihan Jia,
  • Tong Lu,
  • Gang Cheng

摘要

To address dynamic impacts, complex environmental disturbances, and multi-parameter tuning issues of the cable-driven parallel robots system in underground hoisting, a composite control strategy combining a cross-space real-time anti-disturbance method and the soft actor-critic (SAC) algorithm is proposed. Due to the harsh underground environment, real-time accurate measurement of task-space end-position info is difficult. Traditional methods can’t effectively compensate for external disturbances without known end positions. Thus, a cross-space disturbance rejection control (CDRC) method is designed, converting task-space dynamic couplings and disturbances into cross-space lumped disturbances for compensation. Then, to tackle the problems of many anti-disturbance controller parameters and difficult manual tuning, SAC algorithm is introduced for adaptive parameter optimization, building a cross-space SAC disturbance rejection controller (SAC-CDRC). Trajectory tracking and disturbance tests demonstrate that compared with traditional methods, the proposed SAC-CDRC can achieve anti-disturbance control without end feedback, with significant advantages in dynamic performance and anti-disturbance ability.