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This study proposes an adaptive robust sliding-mode control strategy with time delay compensation to address the issues of the inaccuracy of modeling, friction, uncertain disturbances, and time delay in a permanent magnet spherical actuator trajectory tracking control system. First, an improved linear predictor is designed to compensate for the time delay in position information. Second, a robust sliding mode controller is designed to suppress the influence of uncertain disturbance. Third, the constant parameters of the spherical actuator are estimated using the adaptive law and compensated at the control input. The stability of the adaptive robust sliding-mode controller is proved by the Lyapunov theorem. Simulation and experimental results show that the control strategy proposed in this research has good dynamic and static performance, which can provide reference for the further engineering application of multi-degree of freedom control system.

Robust Adaptive Sliding-Mode Control of a Permanent Magnetic Spherical Actuator With Delay Compensation