Adaptive nonsingular terminal sliding mode control of cable-driven manipulators with time delay estimation

ABSTRACT

For accurate position tracking control of cable – driven manipulators under heavy lumped uncertainties, a novel adaptive nonsingular terminal sliding mode (ANTSM) control scheme using time delay estimation (TDE) is proposed and investigated in this paper. Thanks to the TDE technique, which uses the time-delayed states of the system to properly estimate and compensate the lumped complex system dynamics, the proposed controller is model-free and suitable for practical applications. Moreover, high precision and fast convergence and good robustness against lumped disturbance can be effectively obtained using the NTSM manifold and combined adaptive reaching law. Stability of the closed-loop control system is analysed using Lyapunov theory. Comparative numerical simulations and experimental studies were performed. Corresponding results effectively demonstrate the superiorities of the newly proposed controller over the existing TDE-based NTSM and CNTSM controllers under several classical cases.

KEYWORDS:

• Adaptive nonsingular terminal sliding mode control (ANTSM)
• cable-driven manipulators
• time delay estimation (TDE)
• model-free control

Acknowledgments

This work was supported in part by National Natural Science Foundation of China [grant numbers 51705243], in part by Natural Science Foundation of Jiangsu Province [grant number BK20170789], in part by China Post-doctoral Science Foundation [grant number 2019T120424], and in part by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems (GZKF-201915).

Disclosure statement

No potential conflict of interest was reported by the author(s).

ORCID

Yaoyao Wang http://orcid.org/0000-0001-5237-378X

Additional information

Funding

This work was supported in part by National Natural Science Foundation of China [grant numbers 51705243], in part by Natural Science Foundation of Jiangsu Province [grant number BK20170789], in part by China Post-doctoral Science Foundation [grant number 2019T120424], and in part by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems (GZKF-201915).

Notes on contributors

Yaoyao Wang

Yaoyao Wang received the B.S. degree in mechanical engineering from Southeast University, Nanjing, China in 2011 and the Ph.D. degree in mechanical engineering from Zhejiang University, Hangzhou, China in 2016. He is currently an Associate Professor in the College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China. His current research interests include robust control and adaptive control of hydraulic manipulators and underwater vehicles, design and control of cabledriven manipulators.

Fei Yan

Fei Yan received the B.S. degree in Mechanical and Electrical Engineering from Jiangsu University of Science and Technology, Zhenjiang, China in 2015. He is currently working toward the Ph.D. degree in the College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China. His current research interests include design and control of cable-driven manipulators.

Surong Jiang

Surong Jiang received the B.S. and M.S. degrees in applied mathematics from Zhejiang University, Hangzhou, China in 2001 and 2004, respectively; and the Ph.D. degree in mechanical engineering from Nanjing University of Aeronautics and Astronautics, Nanjing, China in 2019. Her current research interests include robust control and adaptive control of robot.

Bai Chen

Bai Chen received his B.S. and Ph.D. degrees in mechanical engineering from Zhejiang University, Hangzhou, China, in 2000 and 2005, respectively. He is currently a Professor and Ph.D. candidate supervisor at the College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China. His current research interests include design and control of surgical robots, cable-driven robots and sperm-like swimming micro robots.