Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots

Practical Tips

Practical tips and how-to guidance will be added by our editorial team.

中文解读

中文解读待补充：本站将优先为睡眠改善、失眠治疗、助眠方法等高价值文章补充中文说明。

Article Summary

Cable-driven manipulators exhibit strong nonlinearities and low structural stiffness, which make precise control challenging under time-varying uncertainties and external disturbances. This paper presents a time-delay-estimation (TDE)-based adaptive fractional-order nonsingular terminal sliding mode (AFONTSM) control strategy for cable-driven robots. A robust controller is constructed within a TDE-based model-free framework by combining fractional-order nonsingular terminal sliding mode error dynamics with a fast terminal sliding mode reaching law. The main contribution is a new adaptive law that introduces an adaptive exponential term into the update gain to form a nonlinear adaptive mechanism. This design improves adaptive regulation under different operating conditions by suppressing noise-induced chattering during smooth tracking while preserving or enhancing the adaptive gain during trajectory reversal. Lyapunov analysis proves the ultimate uniform boundedness of the tracking error. Experimental results show that, compared with the baseline method, the proposed controller reduces RMSE by 34.52% and 31.11%, ITAE by 33.79% and 32.97%, and ISCT by 6.69% and 17.77% for the two joints, respectively. Further comparisons with recently reported adaptive laws demonstrate that the proposed law provides faster adaptive response, more stable gain evolution, and improved chattering suppression. Additional payload tests further verify the robustness and repeatability of the proposed method.

Sources & References

• Original source
• Full article (PDF)

Comments