Time-Delay Control Using a Novel Nonlinear Adaptive Law for Accurate Trajectory Tracking of Cable-Driven Robots

被引：71
作者：
Wang, Yaoyao [1 ]
Liu, Lufang [2 ]
Wang, Dan [2 ]
Ju, Feng [2 ,3 ]
Chen, Bai [2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Natl Key Lab Sci & Technol Helicopter Transmiss, Nanjing 210016, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China
[3] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China
来源：
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS | 2020年 / 16卷 / 08期
基金：
中国博士后科学基金; 国家重点研发计划; 中国国家自然科学基金;
关键词：
Robots; Nonlinear dynamical systems; Robust control; Informatics; Trajectory tracking; Adaptation models; Aerodynamics; Cable-driven robots; nonlinear adaptive law; time-delay control (TDC); time-delay estimation (TDE); trajectory tracking; SLIDING-MODE CONTROL; MANIPULATORS; SYSTEMS;
D O I：
10.1109/TII.2019.2951741
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, we propose a novel adaptive time-delay control (ATDC) for accurate trajectory tracking of cable-driven robots. The designed ATDC utilizes time-delay estimation (TDE) to estimate the lumped dynamics of the system and provides an attractive model-free structure. Then, a robust control is designed for ATDC with fractional-order nonsingular terminal sliding mode (FONTSM) dynamics. Afterward, a novel nonlinear adaptive law is proposed for the control gains to improve the control performance. Thanks to TDE and FONTSM dynamics, the proposed ATDC is model free and highly accurate. Benefiting from the proposed nonlinear adaptive law, suppression of chattering issue and enhanced control performance have been obtained simultaneously. Stability is analyzed based on the Lyapunov approach. Then, practical experiments have been performed to illustrate the advantages of the proposed ATDC.
引用
收藏
页码：5234 / 5243
页数：10
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