DGIST Scholar: Adaptive Gain Dynamics for Time Delay Control against Significant Payload Variations and Discontinuous Nonlinearity of Robot Manipulators

Department of Robotics and Mechatronics Engineering Theses Ph.D.

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Adaptive Gain Dynamics for Time Delay Control against Significant Payload Variations and Discontinuous Nonlinearity of Robot Manipulators

Title: Adaptive Gain Dynamics for Time Delay Control against Significant Payload Variations and Discontinuous Nonlinearity of Robot Manipulators

Author(s): Junyoung Lee

DGIST Authors: Junyoung Lee ; Jin, Maolin ; Chang, Pyung Hun

Advisor: 장평훈

Co-Advisor(s): Maolin Jin

Issued Date: 2019

Awarded Date: 2019-02

Type: Thesis

Subject: 로봇 제어

Table Of Contents: Ⅰ. Introduction 1
1.1 Motivations and Objects 1
1.2 Proposed Methodology 3
1.3 Overview 5
1.4 Nomenclature 6
Ⅱ. Preliminaries 8
2.1 Target System and Control Objective 8
2.2 Time Delay Control (TDC) 10
2.2.1 Time Delay Estimation (TDE) 10
2.2.2 TDC for Robot Manipulators 11
2.2.3 Discontinuous Nonlinearity 12
2.3 Existing Researches 16
2.3.1 TDC with a Constant Gain 16
2.3.2 Adaptive Rules for the TDC 17
Ⅲ. Design of Adaptive Gain Dynamics 19
3.1 Design of Adaptive Gain Dynamics for Payload Variations 19
3.1.1 Adaptive Gain Dynamics for Gain 19
3.1.2 Stability Analysis-1 21
3.2 Design of Adaptive Gain Dynamics for Discontinuous Nonlinearity 23
3.2.1 Adaptive Gain Dynamics for Gain K 23
3.2.2 Stability Analysis-2 25
3.3 Integration of Two Adaptive Gain Dynamics 28
3.4 Summary 29
Ⅳ. Simulation Studies 30
4.1 Simulation Setup 30
4.1.1 Simulation Environment 30
4.1.2 Numerical Differentiation for Velocity and Acceleration 31
4.2 Adaptive Gain Dynamics for Payload Variations 32
4.2.1 Scenario 1. TDC with Constant Gains 32
4.2.2 Scenario 2. Comparison of Constant Gain with Adaptive Gain 32
4.2.3 Scenario 3. Adaptability of Adaptive Gain Dynamics 35
4.3 Adaptive Gain Dynamics for Discontinuous Nonlinearity 38
4.4 Integration of Two Adaptive Gain Dynamics 40
Ⅴ. Experimental Studies 42
5.1 Experimental Setup 42
5.1.1 Experimental Environment 42
5.1.2 Performance Indices 45
5.2 Adaptive Gain Dynamics for Payload Variations 46
5.2.1 Scenario 1. Gain Adaptation to Payload Variations 46
5.2.2 Scenario 2. Comparison with Previous studies 46
5.3 Adaptive Gain Dynamics for Discontinuous Nonlinearity 53
5.3.1 Scenario 1. Gain Adaptation to Discontinuous Nonlinearity 53
5.3.2 Scenario 2. Comparison with Previous study 59
5.4 Integration of Two Adaptive Gain Dynamics 63
5.4.1 Scenario 1. Gain Adaptation to Payload Variations and Discontinuous Nonlinearity 63
5.4.2 Scenario 2. Comparison Studies 63
Ⅵ. Conclusion 69