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• W2971508029 abstract "This work proposes a model-free robust control for cable-driven manipulators with disturbance. To achieve accurate, singularity-free and fast dynamical control performance, we design a new NFTSM surface utilizing a new continuous TSM-type switch element. By replacing the integral power with fractional one for the error dynamics, the designed TSM-type switch element can effectively enhance the dynamical performance of the NFTSM surface. Time-delay estimation (TDE) technique is applied to cancel out complicated nonlinear dynamics guaranteeing an excellent model-free scheme. Thanks to the designed NFTSM surface, adopted reaching law and TDE, our control can provide good comprehensive control performance effectively. Stability and comparisons of control precision and convergence speed have been theoretically analyzed. Finally, comparative experiments were conducted to prove the superiorities of our control." @default.
• W2971508029 created "2019-09-12" @default.
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• W2971508029 date "2020-03-01" @default.
• W2971508029 modified "2023-10-11" @default.
• W2971508029 title "Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators" @default.
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• W2971508029 doi "https://doi.org/10.1016/j.isatra.2019.08.046" @default.
• W2971508029 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/31515092" @default.
• W2971508029 hasPublicationYear "2020" @default.
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