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 …

To achieve accurate contour tracking of robotic manipulators with system uncertainties,
external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular
terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding
mode manifold is developed which eliminates the singularity completely. In order to avoid
the demand of the prior knowledge of system uncertainties, external disturbance and
actuator faults in practical applications, an adaptive tuning approach is proposed. The …