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Stable Gain Adaptation for Time-Delay Control of Robot Manipulators

Title
Stable Gain Adaptation for Time-Delay Control of Robot Manipulators
Authors
Lee, JunyoungChang, Pyung HunSeo, Kap-HoJin, Maolin
DGIST Authors
Chang, Pyung Hun
Issue Date
2019-09-05
Citation
8th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2019, 217-222
Type
Conference
ISSN
2405-8963
Abstract
This paper proposes adaptive gain dynamics for time-delay control (TDC) of robot manipulators. The TDC is a widely employed approach for control of robot manipulators because it is model-independent, simple, and robust. Recently, however, it is reported that TDC with excessively high gains causes unstable or oscillated responses. To overcome this limitation, this study designs adaptive gain dynamics for the TDC using a sliding variable and an acceptance layer. When the gain dynamics automatically adjusts a control gain according to system states, the adaptive control gain moves into a stable range. Therefore, the TDC with the proposed gain dynamics becomes adaptive and stable. The effectiveness of the proposed gain dynamics has been verified by simulations and experiments. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
URI
http://hdl.handle.net/20.500.11750/11438
DOI
10.1016/j.ifacol.2019.11.677
Publisher
International Federation of Automatic Control
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringETC2. Conference Papers


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