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Time-delay control with adaptive gain dynamics for robot manipulators

Title
Time-delay control with adaptive gain dynamics for robot manipulators
Authors
Lee, Jun YoungChang, Pyung HunJin, Maolin
DGIST Authors
Lee, Jun Young
Issue Date
2017-07-03
Citation
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, 118-123
Type
Conference
ISSN
2159-6255
Abstract
Adaptive gain dynamics for time-delay control (TDC) of robot manipulators is proposed. TDC is a well-known controller for robot manipulators: it is model-free, efficient, and robust. The gain of conventional TDC is a constant matrix, which could pose two drawbacks. First, because the gain is tuned manually by a trial-and-error method, one cannot be convinced whether the gain is well-tuned. Second, when the system dynamics varies rapidly, and the posture of the robot manipulator has changed significantly, the performance of the conventional TDC degrades with a constant gain. To cope with these problems, we propose an adaptive gain dynamics for the TDC by using sliding variables and acceptance layer concept. The time-varying acceptance layer automatically adjusts the gain to minimize the sliding mode error. As a result, the TDC with the proposed adaptive gain dynamics becomes adaptive and robust. The effectiveness of the proposed gain dynamics has been verified experimentally using a whole arm manipulator. ? 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/4733
DOI
10.1109/AIM.2017.8014005
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab2. Conference Papers


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