This paper presents the results for model-independent control of uncertain ${n}$ -degree of freedom robotic manipulators in the presence of external disturbances and backlash hysteresis. In order to improve the response characteristics of the system and attenuate the uncertainties, the developed robust model-free controller incorporates time delay control (TDC) as well as adaptive terminal sliding mode control (ATSMC) methods. Particularly, the time delay estimation is designed to estimate the unknown dynamics of the robotic manipulators by adopting the theory of TDC. Further, the ATSMC is utilized to obtain the robustness, finite-time convergence, and an adaptive tuning is exploited to deal with bounded derivative of unknown dynamics. The overall system stability is investigated by the Lyapunov theorem application and computed the finite convergence rate thereafter. Finally, a simulation comparison with an existing adaptive fractional-order terminal sliding mode control under backlash hysteresis is provided to illustrate the effectiveness and the superiority of the proposed method.

中文翻译：

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基于时滞估计的自适应高阶终端滑模控制具有回差滞后的机器人机械手

本文介绍了在存在外部干扰和反向间隙滞后的情况下对不确定的 ${n}$ 自由度机器人机械手进行模型独立控制的结果。为了改善系统的响应特性并减弱不确定性，开发的鲁棒无模型控制器结合了时间延迟控制（TDC）以及自适应终端滑模控制（ATSMC）方法。特别地，采用TDC理论设计了时延估计来估计机器人机械手的未知动力学。此外，利用 ATSMC 获得鲁棒性、有限时间收敛性，并利用自适应调整来处理未知动力学的有界导数。通过李雅普诺夫定理应用研究整体系统稳定性，然后计算有限收敛速度。最后，通过与现有的自适应分数阶终端滑模控制在间隙滞后下进行仿真比较，以说明所提出方法的有效性和优越性。