TDE-Based Adaptive Super-Twisting Multivariable Fast Terminal Slide Mode Control for Cable-Driven Manipulators With Safety Constraint of Error

An adaptive super-twisting multivariable fast terminal sliding mode control scheme based on time delay estimation (TDE) and asymmetric error constraints are proposed to guarantee high-precision trajectory tracking of cable-driven manipulators under complicated unknown uncertainties. The system is constrained by joint position errors, which time-varying. First, the range joints designed ensure that deviation from desired profile not too large while ensuring safety performance manipulator, remaining set-total dynamics estimated compensated using time-delay estimation. Secondly, design analysis angular false expectation constraint functions allows different cross sections be handled in a unified architecture; problem robotic arm motion trajectories with output uncertainties addressed through rigorous analysis. effectively ensures fast, accurate robust convergence algorithm satisfying all operation, stability closed-loop analyzed Lyapunov method. Finally, effectiveness superiority hyper-torsional non-singular verified simulations experiments 2-DOF.