Time delay control of cable-driven manipulators with adaptive fractional-order nonsingular terminal sliding mode

For the high performance control of cable-driven manipulators, a novel time delay control (TDC) scheme with adaptive fractional-order nonsingular terminal sliding mode (AFONTSM) is presented and studied in this work. The presented control scheme uses time delay estimation (TDE) as its basic framework, which can effectively obtain a fascinating model-free feature just using the time-delayed information of the closed-loop control system....