Practical Adaptive Integral Terminal Sliding Mode Control for Cable-Driven Manipulators

Practical Adaptive Integral Terminal Sliding Mode Control for Cable-Driven Manipulators

To guarantee high-performance tracking control of cable-driven manipulators under complex lumped uncertainties, we propose a novel practical adaptive integral terminal sliding mode (AITSM) control scheme in this paper. The proposed control scheme utilizes time-delay estimation (TDE) to estimate and...

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Bibliographic Details
Main Authors: Yaoyao Wang, Fei Yan, Kangwu Zhu, Bai Chen, Hongtao Wu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Model-free
time-delay estimation (TDE)
adaptive integral terminal sliding mode (AITSM)
cable- driven manipulators
tracking control
Online Access:https://ieeexplore.ieee.org/document/8561263/

Internet

https://ieeexplore.ieee.org/document/8561263/

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