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Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

Title
Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
Authors
Jin, MaolinKang, Sang HoonChang, Pyung HunLee, Jinoh
Issue Date
2017-10
Citation
IEEE/ASME Transactions on Mechatronics, 22(5), 2141-2152
Type
Article
Article Type
Article
Keywords
Bioelectric PhenomenaControlControl SchemeConverterDelay Control SystemsDelay EffectsDynamicsDynamics (DED)Error CorrectionError DynamicsErrorsEstimationFlexible ManipulatorsFrictionInclusive FormulationIndustrial RobotsIntelligent RobotsManipulator DynamicsManipulatorsModel-Free ControlModel-Free Control (MFC)Modular RobotsMotionNeural-NetworksNonlinearNonlinear AnalysisNonlinear Desired ErrorNonlinear Desired Error DynamicsNonlinear Sliding SurfacePendulumsPerformanceRobot ApplicationsRobot ManipulatorRobot ManipulatorsRobotsRobust ControlSliding Mode ControlSurfaceSystemsTerminal Sliding-ModeTime DelayTime Delay ControlTime Delay Control (TDC)Time Delay EstimationTime Delay Estimation (TDE)Timing CircuitsTorqueTracking Control
ISSN
1083-4435
Abstract
Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term. © 1996-2012 IEEE.
URI
http://hdl.handle.net/20.500.11750/4267
DOI
10.1109/TMECH.2017.2718108
Publisher
Institute of Electrical and Electronics Engineers Inc.
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