Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators

Yaoyao Wang; Kangwu Zhu; Bai Chen; Maolin Jin

doi:10.1016/j.isatra.2019.08.046

Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators

ISA Trans. 2020 Mar:98:483-495. doi: 10.1016/j.isatra.2019.08.046. Epub 2019 Sep 7.

Authors

Yaoyao Wang¹, Kangwu Zhu², Bai Chen³, Maolin Jin⁴

Affiliations

¹ National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. Electronic address: yywang_cmee@nuaa.edu.cn.
² Shanghai Institute of Spaceflight Control Technology, Shanghai 200233, China.
³ National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
⁴ Korea Institute of Robots and Convergence, Pohang 37666, South Korea.

PMID: 31515092
DOI: 10.1016/j.isatra.2019.08.046

Abstract

This work proposes a model-free robust control for cable-driven manipulators with disturbance. To achieve accurate, singularity-free and fast dynamical control performance, we design a new NFTSM surface utilizing a new continuous TSM-type switch element. By replacing the integral power with fractional one for the error dynamics, the designed TSM-type switch element can effectively enhance the dynamical performance of the NFTSM surface. Time-delay estimation (TDE) technique is applied to cancel out complicated nonlinear dynamics guaranteeing an excellent model-free scheme. Thanks to the designed NFTSM surface, adopted reaching law and TDE, our control can provide good comprehensive control performance effectively. Stability and comparisons of control precision and convergence speed have been theoretically analyzed. Finally, comparative experiments were conducted to prove the superiorities of our control.

Keywords: Cable-driven manipulators; Continuous control; Model-free; NFTSM; TDE.