Adaptive super-twisting fractional-order nonsingular terminal sliding mode control of cable-driven manipulators

Yaoyao Wang; Jiawang Chen; Fei Yan; Kangwu Zhu; Bai Chen

doi:10.1016/j.isatra.2018.11.009

Adaptive super-twisting fractional-order nonsingular terminal sliding mode control of cable-driven manipulators

ISA Trans. 2019 Mar:86:163-180. doi: 10.1016/j.isatra.2018.11.009. Epub 2018 Nov 17.

Authors

Yaoyao Wang¹, Jiawang Chen², Fei Yan³, Kangwu Zhu⁴, Bai Chen³

Affiliations

¹ College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China; the State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310029, China. Electronic address: yywang_cmee@nuaa.edu.cn.
² Ocean College, Zhejiang University, Hangzhou 310027, China.
³ College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China.
⁴ Shanghai Institute of Spaceflight Control Technology, Shanghai 200233, China.

PMID: 30477944
DOI: 10.1016/j.isatra.2018.11.009

Abstract

This paper proposes a novel adaptive super-twisting fractional-order nonsingular terminal sliding mode (AST-FONTSM) control scheme using time delay estimation (TDE) for the cable-driven manipulators. The designed control scheme utilizes TDE to obtain the estimation of system dynamics, and therefore no system dynamic model information will be required. Afterwards, AST and FONTSM schemes are applied to ensure good control performance in both reaching and sliding mode phases. Due to the adoption of AST scheme, good robustness and high control precision are obtained in the reaching phase, while the boundary information of the lumped uncertainties will be no longer required. Thanks to the utilization of FONTSM error dynamics, fast convergence and accurate tracking and strong robustness can be simultaneously ensured in the sliding mode phase. Corresponding comparative simulation and experimental results demonstrate the effectiveness and superiorities of our proposed method over the existing control methods.

Keywords: Adaptive super-twisting (AST); Cable-driven manipulators; Fractional-order nonsingular terminal sliding mode (FONTSM); Time-delay estimation (TDE).