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An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators

Title
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators
Authors
Lee, JunyoungChang, Pyung HunYu, ByeonggiSeo, Kap-HoJin, Maolin
DGIST Authors
Lee, Junyoung; Chang, Pyung Hun; Yu, Byeonggi; Seo, Kap-Ho; Jin, Maolin
Issue Date
2020-09
Citation
IEEE Access, 8, 192229-192238
Type
Article
Article Type
Article
Author Keywords
controlrobot manipulatorsliding mode controltime-delay estimation
Keywords
IMPEDANCE CONTROLROBUST-CONTROLTRACKINGMOTION
ISSN
2169-3536
Abstract
The time-delay control (TDC) has recently been spotlighted as an effective solution owing to model-free, efficient, and robust properties thanks to a time-delay estimation (TDE) technique. The gain of TDC, usually denoted by MN, is crucial for its stability and performance, and it is reported that the constant gain of TDC does not always guarantee the best performance. To cope with this problem, this paper proposes an effective gain adaptation together with a nonlinear desired error dynamics and a new sliding variable. The resulting adaptive gain dynamics is combined with the TDC to form the proposed control, whose closed-loop stability is proved. Through simulation and experiment, we have shown that the proposed control enables to transfer MN from an unstable initial value to a stable one, better than a best-tuned gain by trial and error. As a result, the proposed control is model-free, able to achieve time responses as fast as the inclusive enhanced TDC (IETDC) - arguably the fastest TDC - and tracking accuracy better than the IETDC. The proposed method has shown a strong potential to significantly relieve the burden of gain selection.
URI
http://hdl.handle.net/20.500.11750/12816
DOI
10.1109/ACCESS.2020.3027858
Publisher
Institute of Electrical and Electronics Engineers Inc.
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