Paper Info
Title
Practical Tracking Control of Cable-Driven Robots Using Adaptive Nonsingular Fast Terminal Sliding Mode.
Abstract
In this paper, a novel robust control scheme is developed for the trajectory tracking control purpose of cable-driven robots under complex lumped uncertainties. The proposed control scheme utilizes time-delay estimation (TDE) technique to obtain the lumped unknown system dynamics; and therefore ensures an attractive model-free advantage. A novel adaptive nonsingular fast terminal sliding mode (ANFTSM) manifold is designed considering its uncertainties, which is estimated by a newly designed adaptive law. Afterward, corresponding TDE-based ANFTSM control scheme is proposed. The proposed control scheme requires no system dynamics and therefore is easy to use in complicated practical applications benefitting from TDE technique. Meanwhile, high tracking accuracy and fast dynamical response can be effectively ensured using the proposed ANFTSM manifold. Stability of the closed-loop control system is proved through Lyapunov method. Finally, comparative simulations and experiments were conducted to demonstrate the superiorities of our proposed method over the existing ones.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2879903
IEEE ACCESS
Keywords
Field
DocType
Tracking control,cable-driven robots,adaptive nonsingular fast terminal sliding mode (ANFTSM),time-delay estimation (TDE),model-free
Lyapunov function,Computer science,Control theory,System dynamics,Control system,Terminal sliding mode,Robot,Robust control,Trajectory,Manifold,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Yaoyao Wang1219.30
Jiawang Chen293.87
Kangwu Zhu301.01
Bai Chen42014.41
Hong-tao Wu52214.32