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To ensure satisfactory control performance for the cable-driven manipulators under complex lumped uncertainties, a new continuous fractional-order nonsingular terminal sliding mode (CFONTSM) control scheme based on time delay estimation (TDE) is proposed and studied in this paper. The proposed control scheme contains three elements, a TDE element adopted to suitably cancel out the unknown lumped dynamics with purposely time-delayed signals of the closed-loop control system, a newly proposed FONTSM manifold adopted to realize finite-time convergence in the sliding mode phase and a fast-TSM-type reaching law adopted to ensure finite-time convergence in the reaching phase. The proposed control scheme is model-free and no longer needs system dynamics benefiting from TDE, which is very suitable and easy to use in practical applications. Meanwhile, high precision, fast convergence and good robustness against lumped uncertainties are ensured thanks to the newly proposed FONTSM manifold and adopted fast-TSM-type reaching law. Integrated stability analysis of the closed-loop control system is presented based on Lyapunov stability theory. Finally, the effectiveness of our proposed control scheme is demonstrated by comparative 2-DoFs (degrees-of-freedom) simulation and experiments. [ABSTRACT FROM AUTHOR]

• Propose a novel robust control with feedforward compensation. • Prove the stability of the closed-loop control system considering the proposed dynamics. • Demonstrate the validity of proposed method through both simulations and experiments. For the trajectory tracking purpose of cable-driven robots, a novel robust control method is proposed and investigated in this paper. The proposed method consists of three elements, i.e. a time-delay estimation (TDE) element and a nonsingular fast terminal sliding mode (NFTSM) control element and a feedforward compensation. The TDE technique is utilized to estimate the lumped system dynamics in a simple but effective way, and then ensures an attractive model-free control scheme. The NFTSM control element is adopted to guarantee precise and robust control performance with continuous and singularity-free control efforts. Moreover, the feedforward compensation is also utilized to further enhance the control performance by taking advantages of the system dynamics. Due to this feedforward compensation element, higher control performance has been ensured compared with the traditional TDE-based control. Thanks to above three elements, the proposed method is practical to use and highly accurate and strongly robust. Comparative simulations and experiments were conducted to verify the effectiveness and superiorities of our proposed control method over the recently proposed one. [ABSTRACT FROM AUTHOR]