Time Delay Control of Cable-driven Manipulators with Nonsingular Terminal Sliding Mode

A time delay control (TDC) scheme is developed in this paper for the trajectory tracking control purpose of cable-driven manipulators with nonsingular terminal sliding mode (NTSM). The proposed control scheme utilizes TDC as the basic control frame to enjoy the attractive model-free, while uses the NTSM error dynamics to guarantee good control performance under lumped disturbances. The core component of TDC is the time delay estimation (TDE), which uses the time delayed signals of the system to estimate and compensate the lumped system dynamics. The proposed method is easy to use in complicated practical situations thanks to TDC and can provide with high tracing accuracy and fast dynamical response benefiting from NTSM. The overall stability of the closed-loop control system is analyzed using Lyapunov stability theory. Finally, comparative simulations were performed to verify the effectiveness and superiorities of our newly developed control method over the traditional TDC method.