Adaptive time delay control for cable-driven manipulators using fuzzy logic algorithm

A new adaptive time delay estimation technique with sliding mode control method is proposed and investigated in this passage for cable-driven manipulators. Time delay estimation technique is an effective tool to compensate for unmodeled dynamics and unknown disturbance, and adaptive time delay estimation performs better due to its adaptive control gain. The proposed adaptive method is based on the fuzzy logic algorithm which has a great advantage in input-output mapping thank to its flexibility. Tuning procedure is addressed to reveal the implementation of the newly proposed algorithm. Moreover, the desired trajectory is taken as an input of adaptive algorithm and better control performance is obtained through this attempt. The proposed controller is ultimately uniformly bounded and proof using the Lyapunov method is provided. Finally, comparative experiments show the validity and effectiveness of the proposed controller.