A New Practical Robust Adaptive Control of Cable-driven Robots

被引：0
|
作者：
Yaoyao Wang
Haoqin Yang
Wenxiang Deng
机构：
[1] Nanjing University of Aeronautics and Astronautics,State Key Laboratory of Mechanics and Control of Mechanical Structures
[2] Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems
[3] Nanjing University of Aeronautics and Astronautics,College of Materials Science and Technology
[4] Nanjing University of Science and Technology,School of Mechanical Engineering
来源：
International Journal of Control, Automation and Systems | 2023年 / 21卷
关键词：
Adaptive nonsingular fast terminal sliding mode; cable-driven robots; robust adaptive control; time-delay estimation;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this work, a new practical robust adaptive control is proposed for cable-driven robots. The proposed control method consists of three components, which are the newly designed adaptive nonsingular fast terminal sliding mode (ANFTSM) surface and time-delay estimation (TDE) and fast terminal sliding mode (FTSM) reaching law. The TDE is utilized to estimate the lumped system dynamics in a simple way, and then a practical model-free control structure is established. The proposed ANFTSM surface and FTSM reaching law are utilized to further enhance the control performance in both sliding mode and reaching phases. Benefiting from TDE, the proposed control is model-free and easy to apply in practical applications. Due to our ANFTSM surface and FTSM reaching law, the proposed control is highly accurate and fast convergent. The validity of our control is demonstrated through three comparative experiments using a developed cable-driven robot named Polaris-I.
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页码：2685 / 2697
页数：12
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