绳驱动空中机械臂的自适应分数阶终端滑模控制

针对集总干扰下绳驱动空中机械臂关节空间内高精度轨迹跟踪控制问题，提出了一种基于时延估计技术的自适应鲁棒控制策略。在控制框架中，引入时延估计技术来补偿系统未建模特性、外界扰动及动力学耦合效应；采用分数阶非奇异终端滑模面来加快系统状态量的收敛速度和保证轨迹跟踪控制的精度；添加自适应律来增加控制器的鲁棒性。同时，基于李雅普诺夫稳定性理论分析了闭环系统的稳定性。最后，通过可视化仿真和地面试验对本文所设计控制器的有效性进行了验证，结果表明：与其他两种控制器相比，本文控制器具有较高的轨迹跟踪精度、较好的鲁棒性和较强的抗干扰能力。

Adaptive fractional-order terminal sliding mode control for cable-driven aerial manipulators

Aiming at the high-precision trajectory tracking control in joint space for cable-driven aerial manipulator subjected to lumped disturbances, this article proposes an adaptive robust control strategy based on time delay estimation technique. In the control frame, a time delay estimation technique is introduced to compensate the unmodelled characteristic, external disturbances and dynamic coupling effects. A fractional-order nonsingular terminal sliding mode controller has been designed to improve the convergence speed of the system states and ensure the control precision of trajectory tracking. Meanwhile, an adaptive law is designed to enhance the robustness of the controller. The stability analysis of the closed-loop system has been conducted based on Lyapunov theory. Lastly, the effectiveness of the proposed controller has been verified through a visual simulation and ground tests. The results show that our proposed controller has higher tracking precision, better robustness and stronger ability of disturbance rejection.