Matches in SemOpenAlex for { <https://semopenalex.org/work/W3005133498> ?p ?o ?g. }
- W3005133498 endingPage "1023" @default.
- W3005133498 startingPage "1011" @default.
- W3005133498 abstract "With the increasing demand for air operations, in this article, a control algorithm is proposed for a novel light cable-driven manipulator developed for aerial robots. On account of the control problem of cable-driven manipulators, we design a time delay estimation–based nonsingular terminal sliding mode controller with a fuzzy logic system to further improve the precision of joint position tracking. First, time delay estimation technique is adopted to estimate unknown dynamics of the manipulator system. And thanks to time delay estimation, accurate dynamic model is not needed and thus the controller is model-free which makes it more practical. The main part of the controller is nonsingular terminal sliding mode which ensures satisfactory tracking precision and good robustness under time delay estimation error and external disturbances. Besides, the boundary layer is introduced for reducing chattering and was regulated by a fuzzy logic system to realize a faster convergence. Global stability and finite time convergence to equilibrium of the closed-loop control system are analyzed using Lyapunov stability theory. Finally, comparative experiments are conducted through a newly designed planar cable-driven manipulator. Experimental results show that the proposed controller has a better performance compared with a conventional nonsingular terminal sliding mode controller while control effort is almost the same." @default.
- W3005133498 created "2020-02-14" @default.
- W3005133498 creator A5031146178 @default.
- W3005133498 creator A5044013282 @default.
- W3005133498 creator A5058380236 @default.
- W3005133498 creator A5063342415 @default.
- W3005133498 creator A5063937330 @default.
- W3005133498 creator A5082261091 @default.
- W3005133498 date "2020-02-07" @default.
- W3005133498 modified "2023-10-01" @default.
- W3005133498 title "Practical continuous nonsingular terminal sliding mode control of a cable-driven manipulator developed for aerial robots" @default.
- W3005133498 cites W1922893359 @default.
- W3005133498 cites W1972518516 @default.
- W3005133498 cites W1973945405 @default.
- W3005133498 cites W1981123838 @default.
- W3005133498 cites W1988367613 @default.
- W3005133498 cites W2014899437 @default.
- W3005133498 cites W2024881219 @default.
- W3005133498 cites W2042616129 @default.
- W3005133498 cites W2049661704 @default.
- W3005133498 cites W2050918738 @default.
- W3005133498 cites W2056182759 @default.
- W3005133498 cites W2064095428 @default.
- W3005133498 cites W2066380996 @default.
- W3005133498 cites W2082768729 @default.
- W3005133498 cites W2086658405 @default.
- W3005133498 cites W2094542308 @default.
- W3005133498 cites W2094690377 @default.
- W3005133498 cites W2123926537 @default.
- W3005133498 cites W2129275525 @default.
- W3005133498 cites W2161497332 @default.
- W3005133498 cites W2164850639 @default.
- W3005133498 cites W2289269862 @default.
- W3005133498 cites W2319661762 @default.
- W3005133498 cites W2343067029 @default.
- W3005133498 cites W2395392600 @default.
- W3005133498 cites W2464496370 @default.
- W3005133498 cites W2470482648 @default.
- W3005133498 cites W2498502655 @default.
- W3005133498 cites W253794326 @default.
- W3005133498 cites W2592386493 @default.
- W3005133498 cites W2608224837 @default.
- W3005133498 cites W2616315826 @default.
- W3005133498 cites W2620317765 @default.
- W3005133498 cites W2623634636 @default.
- W3005133498 cites W2737736050 @default.
- W3005133498 cites W2757610031 @default.
- W3005133498 cites W2783130908 @default.
- W3005133498 cites W2790129124 @default.
- W3005133498 cites W2792903075 @default.
- W3005133498 cites W2794703413 @default.
- W3005133498 cites W2800175251 @default.
- W3005133498 cites W2801984431 @default.
- W3005133498 cites W2849411385 @default.
- W3005133498 cites W2891005336 @default.
- W3005133498 cites W2893848860 @default.
- W3005133498 cites W2895187230 @default.
- W3005133498 cites W2896033043 @default.
- W3005133498 cites W2896543259 @default.
- W3005133498 cites W2901731643 @default.
- W3005133498 cites W2905084567 @default.
- W3005133498 cites W2906172613 @default.
- W3005133498 cites W2928373417 @default.
- W3005133498 cites W2938261389 @default.
- W3005133498 cites W2939994483 @default.
- W3005133498 cites W2945392982 @default.
- W3005133498 cites W2953419927 @default.
- W3005133498 cites W2971508029 @default.
- W3005133498 doi "https://doi.org/10.1177/0959651819899494" @default.
- W3005133498 hasPublicationYear "2020" @default.
- W3005133498 type Work @default.
- W3005133498 sameAs 3005133498 @default.
- W3005133498 citedByCount "8" @default.
- W3005133498 countsByYear W30051334982022 @default.
- W3005133498 countsByYear W30051334982023 @default.
- W3005133498 crossrefType "journal-article" @default.
- W3005133498 hasAuthorship W3005133498A5031146178 @default.
- W3005133498 hasAuthorship W3005133498A5044013282 @default.
- W3005133498 hasAuthorship W3005133498A5058380236 @default.
- W3005133498 hasAuthorship W3005133498A5063342415 @default.
- W3005133498 hasAuthorship W3005133498A5063937330 @default.
- W3005133498 hasAuthorship W3005133498A5082261091 @default.
- W3005133498 hasConcept C104317684 @default.
- W3005133498 hasConcept C121332964 @default.
- W3005133498 hasConcept C127413603 @default.
- W3005133498 hasConcept C133731056 @default.
- W3005133498 hasConcept C154945302 @default.
- W3005133498 hasConcept C158622935 @default.
- W3005133498 hasConcept C162324750 @default.
- W3005133498 hasConcept C183356978 @default.
- W3005133498 hasConcept C185592680 @default.
- W3005133498 hasConcept C203479927 @default.
- W3005133498 hasConcept C2775924081 @default.
- W3005133498 hasConcept C2776829284 @default.
- W3005133498 hasConcept C2777303404 @default.
- W3005133498 hasConcept C2777539142 @default.
- W3005133498 hasConcept C36662352 @default.
- W3005133498 hasConcept C41008148 @default.