Tracking control of cable-driven manipulator with adaptive fractional-order nonsingular fast terminal sliding mode control

Abstract

In this article, an adaptive nonsingular terminal sliding mode control scheme based on fractional order is proposed for a cable-driven manipulator with external disturbances, where the concentration is uncertain and the upper limit is known or unknown. Furthermore, a new adaptive fractional-order nonsingular fast terminal sliding mode algorithm with time-delay estimation is developed. The delay estimation unit can be used to properly compensate the centralized unknown dynamics of the system, thereby obtaining attractive model-free characteristics. A characteristic of the control scheme in this article is that by using the adaptive tuning law, the upper limit of the uncertainty is estimated only by the speed and position measurement so as to achieve the effects of rapid convergence, high accuracy, and vibration reduction. In addition, the proposed controller effectively eliminates the effects of jitter without losing robustness and accuracy. The simulation results show the effectiveness of the proposed control scheme.