With the increasing demand for air operations, in this article, a control algorithm is proposed for a novel light cable-driven manipulator developed for aerial robots. On account of the control problem of cable-driven manipulators, we design a time delay estimation–based nonsingular terminal sliding mode controller with a fuzzy logic system to further improve the precision of joint position tracking. First, time delay estimation technique is adopted to estimate unknown dynamics of the manipulator system. And thanks to time delay estimation, accurate dynamic model is not needed and thus the controller is model-free which makes it more practical. The main part of the controller is nonsingular terminal sliding mode which ensures satisfactory tracking precision and good robustness under time delay estimation error and external disturbances. Besides, the boundary layer is introduced for reducing chattering and was regulated by a fuzzy logic system to realize a faster convergence. Global stability and finite time convergence to equilibrium of the closed-loop control system are analyzed using Lyapunov stability theory. Finally, comparative experiments are conducted through a newly designed planar cable-driven manipulator. Experimental results show that the proposed controller has a better performance compared with a conventional nonsingular terminal sliding mode controller while control effort is almost the same.

中文翻译：

---

为空中机器人开发的电缆驱动机械手的实用连续非奇异终端滑模控制

随着空中作业需求的增加，本文提出了一种为空中机器人开发的新型轻型电缆驱动机械手的控制算法。针对电缆驱动机械手的控制问题，我们设计了一种基于时间延迟估计的非奇异终端滑模控制器，带有模糊逻辑系统，以进一步提高关节位置跟踪的精度。首先，采用时延估计技术对机械臂系统的未知动力学进行估计。并且由于时间延迟估计，不需要精确的动态模型，因此控制器是无模型的，这使得它更实用。控制器的主要部分是非奇异终端滑模，在时延估计误差和外部干扰下，保证了令人满意的跟踪精度和良好的鲁棒性。除了，引入边界层以减少抖动，并通过模糊逻辑系统进行调节以实现更快的收敛。使用李雅普诺夫稳定性理论分析了闭环控制系统的全局稳定性和有限时间收敛到平衡状态。最后，通过新设计的平面电缆驱动机械手进行对比实验。实验结果表明，与传统的非奇异终端滑模控制器相比，所提出的控制器具有更好的性能，而控制量几乎相同。通过新设计的平面电缆驱动机械手进行对比实验。实验结果表明，与传统的非奇异终端滑模控制器相比，所提出的控制器具有更好的性能，而控制量几乎相同。通过新设计的平面电缆驱动机械手进行对比实验。实验结果表明，与传统的非奇异终端滑模控制器相比，所提出的控制器具有更好的性能，而控制量几乎相同。