Practical Adaptive Integral Terminal Sliding Mode Control for Cable-Driven Manipulators

To guarantee high-performance tracking control of cable-driven manipulators under complex lumped uncertainties, we propose a novel practical adaptive integral terminal sliding mode (AITSM) control scheme in this paper. The proposed control scheme utilizes time-delay estimation (TDE) to estimate and compensate the system dynamics and therefore ensures an attractive model-free control structure. Meanwhile, a novel adaptive algorithm is designed to timely and appropriately update the gains for the AITSM manifold and combined adaptive reaching law (ARL). High control accuracy, fast dynamical response, and strong robustness can be effectively ensured, thanks to the proposed AITSM manifold and combined ARL. The stability of the closed-loop control system is analyzed using the Lyapunov stability theory. Comparative experiments were conducted, and the corresponding results show that the newly proposed TDEbased AITSM control scheme can provide a better and comprehensive control performance than the existing AITSM control method.