Physics

Nonlinear system

Tracking error

Pure mathematics

Mathematics

Sliding mode control

Manifold (fluid mechanics)

Gene

Adaptive control

Engineering

Mathematical analysis

Artificial intelligence

Control (management)

Chemistry

Computer science

Quantum mechanics

Invertible matrix

Bounded function

Control theory (sociology)

Biochemistry

Lyapunov function

Robustness (evolution)

Mechanical engineering

IEEE Transactions on Industrial Informatics

This paper proposes a new adaptive time-delay control (ATDC) scheme for cable-driven manipulators. The proposed ATDC scheme contains three elements, i.e., time-delay estimation (TDE), injected dynamics, and adaptive laws. The TDE utilizes intentionally time-delayed signals to estimate the unknown system dynamics and brings a fascinating model-free nature. The injected dynamics employ a fractional-order nonsingular terminal sliding mode (FONTSM) manifold and a fast-TSM-type reaching law, thus it can ensure fast dynamical response and high tracking accuracy in both sliding mode and reaching phases. The adaptive laws are utilized to obtain good robustness and effective suppression of the chatters simultaneously. Moreover, the continuous and chatter-free adaptive gains are used to enhance the control performance under time-varying disturbances. The tracking error is proved to be uniformly ultimately bounded (UUB) using Lyapunov approach. Finally, the superiorities of the proposed ATDC scheme are demonstrated by three experiments using a cable-driven manipulator.

A New Adaptive Time-Delay Control Scheme for Cable-Driven Manipulators