Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation
Abstract
This paper presents an adaptive proportional-integral-derivative fractional-order nonsingular terminal sliding mode (PID-FONTSM) control for the cable-driven manipulators using time-delay estimation (TDE). The proposed control uses TDE technique to obtain the lumped system dynamics and brings in an effective model-free structure. Then, a PID-FONTSM surface is designed to further enhance the control performance. The proposed PID-FONTSM surface uses the FONTSM error dynamic as its inner loop and utilises a PID-type surface with FONTSM variable as its outer loop. Benefitting from this structure, the proposed PID-FONTSM surface enjoys the advantages from both PID and FONTSM simultaneously. Afterwards, an adaptive algorithm is developed, to timely and precisely regulate the control gain for the robust term. The proposed control method is model-free, highly accurate and essentially continuous thanks to the TDE technique and developed PID-FONTSM surface and adaptive algorithm. The stability of the closed-loop control system under TDE and PID-FONTSM dynamics is proved using Lyapunov stability theory. Finally, comparative simulations were conducted to verify the effectiveness and superiorities of our proposed control method over the existing methods.
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Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include PID, adaptive sliding mode controller (SMC), and fuzzy logic approach-based control methods.
“Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include, for example, the PID controller [18], adaptive sliding mode controller (SMC) [19], and fuzzy logic approach-based [20] control methods.”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [18]
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- Authors
- Wang, Y., Peng, J., Zhu, K., Chen, B., & Wu, H.
- Affiliations
- Nanjing University of Aeronautics and Astronautics (CN)
- Shanghai Institute of Spaceflight Control Technology, Shanghai, People’s Republic of China
- Corresponding author
- Wang, Yaoyao
- Venue
- International Journal of Systems Science
- Publisher
- Informa UK Limited
- Published
- 2020-08-25
- Volume
- 51
- Issue
- 15
- Pages
- 3118-3133
- ISSN
- 0020-7721 (ISSN-L)
- 1464-5319
- OpenAlex
- W3080487503
- Cited by
- 21
- References
- 54
- Citations by year
- 2026: 2 · 2025: 4 · 2024: 2 · 2023: 4 · 2022: 6 · 2021: 3
- FWCI
- 1.61
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- International Journal of Systems Science (publishedVersion)
- RePEc: Research Papers in Economics (submittedVersion)
- Funders
- China Postdoctoral Science Foundation (2018M630552, 2019T120424)
- National Natural Science Foundation of China (51705243)
- Natural Science Foundation of Jiangsu Province (BK20170789)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- cable-driven manipulator, PID control, time delay estimation, adaptive control, model-free control, Lyapunov stability, robust control
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