College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China; the State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310029, China.
Ocean College, Zhejiang University, Hangzhou 310027, China.
ISA Trans. 2019 Mar;86:163-180. doi: 10.1016/j.isatra.2018.11.009. Epub 2018 Nov 17.
This paper proposes a novel adaptive super-twisting fractional-order nonsingular terminal sliding mode (AST-FONTSM) control scheme using time delay estimation (TDE) for the cable-driven manipulators. The designed control scheme utilizes TDE to obtain the estimation of system dynamics, and therefore no system dynamic model information will be required. Afterwards, AST and FONTSM schemes are applied to ensure good control performance in both reaching and sliding mode phases. Due to the adoption of AST scheme, good robustness and high control precision are obtained in the reaching phase, while the boundary information of the lumped uncertainties will be no longer required. Thanks to the utilization of FONTSM error dynamics, fast convergence and accurate tracking and strong robustness can be simultaneously ensured in the sliding mode phase. Corresponding comparative simulation and experimental results demonstrate the effectiveness and superiorities of our proposed method over the existing control methods.
本文提出了一种新颖的基于时延估计（TDE）的缆驱动机械臂自适应超螺旋分数阶非奇异终端滑模（AST-FONTSM）控制方案。所设计的控制方案利用 TDE 来获取系统动力学的估计，因此不需要系统动态模型信息。之后，采用 AST 和 FONTSM 方案来保证在到达和滑动模态阶段都具有良好的控制性能。由于采用了 AST 方案，在到达阶段获得了良好的鲁棒性和高精度，而不再需要集中不确定性的边界信息。得益于 FONTSM 误差动力学的应用，在滑动模态阶段可以同时保证快速收敛、准确跟踪和强鲁棒性。相应的对比仿真和实验结果证明了与现有控制方法相比，我们提出的方法的有效性和优越性。
