Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm
For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed m...
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doaj-7fc7c2333a394851812216c578895eec2021-03-29T21:16:35ZengIEEEIEEE Access2169-35362018-01-016496264963610.1109/ACCESS.2018.28689888456500Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting AlgorithmYaoyao Wang0https://orcid.org/0000-0001-5237-378XFei Yan1Jiawang Chen2Bai Chen3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaOcean College, Zhejiang University, Hangzhou, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaFor the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed method applies the time-delay estimation (TDE) technique to estimate and compensate the unknown lumped system dynamics leading to an attractive model-free nature. Then, the NFTSM manifold and the modified STA scheme are used to ensure finite-time convergence performance in both the reaching and sliding mode phases. Thanks to the TDE technique, the proposed method is model-free and suitable to use in complicated practical applications; meanwhile, fast convergence, high tracking accuracy, and good robustness against lumped uncertainties can be ensured befitting from the CNFTSM control with NFTSM error dynamics and STA schemes. Stability of the closed-loop control system is proved. Finally, 2 degrees of freedom comparative simulations and experiments were performed to demonstrate the effectiveness and superiorities of our proposed method over the existing TDE-based robust control schemes.https://ieeexplore.ieee.org/document/8456500/Continuous nonsingular fast terminal sliding modecable-driven manipulatortime-delay estimationsuper-twisting algorithm |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yaoyao Wang Fei Yan Jiawang Chen Bai Chen |
spellingShingle |
Yaoyao Wang Fei Yan Jiawang Chen Bai Chen Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm IEEE Access Continuous nonsingular fast terminal sliding mode cable-driven manipulator time-delay estimation super-twisting algorithm |
author_facet |
Yaoyao Wang Fei Yan Jiawang Chen Bai Chen |
author_sort |
Yaoyao Wang |
title |
Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm |
title_short |
Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm |
title_full |
Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm |
title_fullStr |
Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm |
title_full_unstemmed |
Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm |
title_sort |
continuous nonsingular fast terminal sliding mode control of cable-driven manipulators with super-twisting algorithm |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2018-01-01 |
description |
For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed method applies the time-delay estimation (TDE) technique to estimate and compensate the unknown lumped system dynamics leading to an attractive model-free nature. Then, the NFTSM manifold and the modified STA scheme are used to ensure finite-time convergence performance in both the reaching and sliding mode phases. Thanks to the TDE technique, the proposed method is model-free and suitable to use in complicated practical applications; meanwhile, fast convergence, high tracking accuracy, and good robustness against lumped uncertainties can be ensured befitting from the CNFTSM control with NFTSM error dynamics and STA schemes. Stability of the closed-loop control system is proved. Finally, 2 degrees of freedom comparative simulations and experiments were performed to demonstrate the effectiveness and superiorities of our proposed method over the existing TDE-based robust control schemes. |
topic |
Continuous nonsingular fast terminal sliding mode cable-driven manipulator time-delay estimation super-twisting algorithm |
url |
https://ieeexplore.ieee.org/document/8456500/ |
work_keys_str_mv |
AT yaoyaowang continuousnonsingularfastterminalslidingmodecontrolofcabledrivenmanipulatorswithsupertwistingalgorithm AT feiyan continuousnonsingularfastterminalslidingmodecontrolofcabledrivenmanipulatorswithsupertwistingalgorithm AT jiawangchen continuousnonsingularfastterminalslidingmodecontrolofcabledrivenmanipulatorswithsupertwistingalgorithm AT baichen continuousnonsingularfastterminalslidingmodecontrolofcabledrivenmanipulatorswithsupertwistingalgorithm |
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1724193211650408448 |