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Adaptive time-delay control with a supervising switching technique for robot manipulators

Title
Adaptive time-delay control with a supervising switching technique for robot manipulators
Authors
Cho, Seung-JaeLee, Jin SKim, JinwookKuc, Tae-YongChang, Pyung-HunJin, Maolin
Issue Date
2017
Citation
Transactions of the Institute of Measurement and Control, 39(9), 1374-1382
Type
Article
Article Type
Article
Keywords
Adaptive ControlBioelectric PhenomenaDelay Control SystemsFlexible ManipulatorsFunctionsIndustrial RobotsManipulatorsModular RobotsNussbaum FunctionNussbaum FunctionsRobot ApplicationsRobotsSupervising Switching Technique (SST)Switching TechniquesTime DelayTime Delay Control (TDC)Time Delay Estimation (TDE)Timing Circuits
ISSN
0142-3312
Abstract
This paper presents adaptive time-delay control (TDC) with a supervising switching technique (SST) for controlling robot manipulators. Two adaptive techniques are used to enhance the TDC. The control gain of TDC is adaptively tuned using a class of Nussbaum functions. With Nussbaum functions, compared with conventional TDC using a constant gain, the proposed control using Nussbaum functions can deal with inertia parameter variations due to the movement of a robot manipulator. The SST is used to deal with discontinuous disturbances. The proposed control is model-free, highly accurate, robust and adaptive. © 2017, © The Author(s) 2017.
URI
http://hdl.handle.net/20.500.11750/4434
DOI
10.1177/0142331216637118
Publisher
SAGE Publications Ltd
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