Robust Adaptive Position/Force Control for Flexible-Link with Flexible-Joint Manipulator

Tracking control of cable-driven manipulator with adaptive fractional-order nonsingular fast terminal sliding mode control

“…Therefore, FTSM control and its improvement can ensure convergence within a finite time, and integration with TDE can ensure higher tracking accuracy. But, for the singularity problem, many new sliding mode control methods have also been developed in recent years, such as the nonsingular terminal sliding mode (NTSM) method and the nonsingular fast terminal sliding mode (NFTSM) method (Li et al, 2014;Lin et al, 2016;Mondal and Mahanta, 2014;Rangel et al, 2020;Shen et al, 2020;Wang et al, 2019;Yang and Yang, 2011;Yu et al, 2005;Zhihong and Yu, 1997). Compared with some other sliding mode control technologies, NFTSM control has the advantages of fast convergence speed, avoiding singularity, moving away from the origin, and suppressing chatter.…”

“…Therefore, to overcome the unknown boundary problem, a variety of sliding mode control structures combining radial basis function neural network and adaptive control are proposed. In Wang et al (2019), an adaptive robust TSM control method is proposed for constrained flexible links and flexible joint manipulators. Based on Lyapunov's theory, a new method for estimating the upper bound of uncertainty in the system is proposed.…”

Review on Modeling and Control of Flexible Link Manipulators

“…trajectory tracking control(Si et al, 2017;Huan and Xian, 2017; Lochan et al, 2020) (e) Vibration control(Reddy and Jacob, 2017) (f) Motion control(Wang et al, 2017;Zhang and Yu, 2001;Tian et al, 2002) (g) Force control(Rigatos and Busawon, 2018;Bazaei and Moallem, 2010) (h) Hybrid control (position and force(Matsuno and Yamamoto, 1993;Wang et al, 2020), position and vibration(Singh and Ohri, 2018), trajectory tracking and vibration (Garcia-Perez et al, 2019), and other combinations)There are various control schemes reported in the literature, depending on the control problems. Jing et al (2019) presented a state-of-the-art review on kinematic analysis and dynamic stable control of space flexible manipulators and pointed out existing problems and suggestions on dynamic stable control.…”