Practical Tracking Control of Cable-Driven Robots Using Adaptive Nonsingular Fast Terminal Sliding Mode

Practical Tracking Control of Cable-Driven Robots Using Adaptive Nonsingular Fast Terminal Sliding Mode

In this paper, a novel robust control scheme is developed for the trajectory tracking control purpose of cable-driven robots under complex lumped uncertainties. The proposed control scheme utilizes time-delay estimation (TDE) technique to obtain the lumped unknown system dynamics; and therefore ensu...

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Bibliographic Details
Main Authors: Yaoyao Wang, Jiawang Chen, Kangwu Zhu, Bai Chen, Hongtao Wu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Tracking control
cable-driven robots
adaptive nonsingular fast terminal sliding mode (ANFTSM)
time-delay estimation (TDE)
model-free
Online Access:https://ieeexplore.ieee.org/document/8525269/

Internet

https://ieeexplore.ieee.org/document/8525269/

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