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.

中文翻译：

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带时延估计的索驱动机械臂自适应非奇异终端滑模控制

摘要 为了在大量集总不确定性下对电缆驱动的机械手进行精确的位置跟踪控制，本文提出并研究了一种使用时延估计 (TDE) 的新型自适应非奇异终端滑模 (ANTSM) 控制方案。由于 TDE 技术使用系统的延时状态来正确估计和补偿集中的复杂系统动力学，所提出的控制器是无模型的，适合实际应用。此外，使用NTSM流形和组合自适应到达律可以有效地获得高精度和快速收敛以及对集中扰动的良好鲁棒性。使用李雅普诺夫理论分析闭环控制系统的稳定性。进行了比较数值模拟和实验研究。