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A novel model-free robust control is developed for cable-driven manipulators in this work. Using the time-delay estimation (TDE) to estimate system dynamics, an attractive model-free structure is ensured. Then, a novel PID-nonsingular fast terminal sliding mode (PID-NFTSM) surface is proposed to achieve high control performance. Afterwards, a combined adaptive reaching law is designed to further enhance the control performance in the reaching phase. The developed control requires no system dynamics and is proper to apply under complex practical situations. At the same time, satisfactory comprehensive performance is still acquired thanks to the newly proposed PID-NFTSM surface and combined adaptive reaching law. Stability is proved through Lyapunov approach. Comparative simulation studies show that our control can provide better comprehensive performance than the recently reported PID-NFTSM control.

A Novel Model-Free Robust Control of Cable-Driven Manipulators