For the trajectory tracking purpose of cable-driven robots, a novel robust control method is proposed and investigated in this paper. The proposed method consists of three elements, i.e. a time-delay estimation (TDE) element and a nonsingular fast terminal sliding mode (NFTSM) control element and a feedforward compensation. The TDE technique is utilized to estimate the lumped system dynamics in a simple but effective way, and then ensures an attractive model-free control scheme. The NFTSM control element is adopted to guarantee precise and robust control performance with continuous and singularity-free control efforts. Moreover, the feedforward compensation is also utilized to further enhance the control performance by taking advantages of the system dynamics. Due to this feedforward compensation element, higher control performance has been ensured compared with the traditional TDE-based control. Thanks to above three elements, the proposed method is practical to use and highly accurate and strongly robust. Comparative simulations and experiments were conducted to verify the effectiveness and superiorities of our proposed control method over the recently proposed one.

为了实现电缆驱动机器人的轨迹跟踪，提出并研究了一种新颖的鲁棒控制方法。所提出的方法包括三个要素，即时延估计（TDE）要素和非奇异快速终端滑模（NFTSM）控制要素以及前馈补偿。TDE技术用于以简单但有效的方式估算集总系统动力学，然后确保一种有吸引力的无模型控制方案。采用NFTSM控制元件以确保精确且鲁棒的控制性能，且连续且无奇点控制努力。此外，前馈补偿还可以利用系统动力学来进一步增强控制性能。由于这种前馈补偿元件，与传统的基于TDE的控制相比，确保了更高的控制性能。由于上述三个因素，所提出的方法是实用的并且高度准确且鲁棒性强。进行了比较模拟和实验，以验证我们提出的控制方法相对于最近提出的控制方法的有效性和优越性。