Practical adaptive fractional-order nonsingular terminal sliding mode control for a cable-driven manipulator. (English) Zbl 1410.93032
Summary: For the high precise tracking control purpose of a cable-driven manipulator under lumped uncertainties, a novel adaptive fractional-order nonsingular terminal sliding mode control scheme based on Time Delay Estimation (TDE) is proposed and investigated in this paper. The proposed control scheme mainly has three elements, i.e., a TDE element applied to properly compensate the lumped unknown dynamics of the system resulting in a fascinating model-free feature; a Fractional-Order Nonsingular Terminal Sliding Mode (FONTSM) surface element used to ensure high precision in the steady phase; and a combined reaching law with adaptive technique adopted to obtain fast convergence and high precision and chatter reduction under complex lumped disturbance. Stability of the closed-loop control system is analyzed with the Lyapunov stability theory. Comparative simulations and experiments are performed to demonstrate the effectiveness of our proposed control scheme using 2-DOF (degree of freedom) of a cable-driven manipulator named Polaris-I. Corresponding results show that our proposed method can ensure faster convergence, higher precision, and better robustness against complex lumped disturbance than the existing TDE-based FONTSM and continuous FONTSM control schemes.
MSC:
| 93B12 | Variable structure systems |
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93D05 | Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory |
| 93C40 | Adaptive control/observation systems |
Keywords:
adaptive control; cable-driven manipulator; fractional-order; nonsingular terminal sliding mode (NTSM); time delay estimation (TDE)References:
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