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dc.contributor.author Lee, Junyoung -
dc.contributor.author Chang, Pyung Hun -
dc.contributor.author Yu, Byeonggi -
dc.contributor.author Seo, Kap-Ho -
dc.contributor.author Jin, Maolin -
dc.date.accessioned 2021-01-22T07:37:34Z -
dc.date.available 2021-01-22T07:37:34Z -
dc.date.created 2020-11-19 -
dc.date.created 2020-11-19 -
dc.date.created 2020-11-19 -
dc.date.created 2020-11-19 -
dc.date.issued 2020-09 -
dc.identifier.citation IEEE Access, v.8, pp.192229 - 192238 -
dc.identifier.issn 2169-3536 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/12816 -
dc.description.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. -
dc.language English -
dc.publisher Institute of Electrical and Electronics Engineers Inc. -
dc.title An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators -
dc.type Article -
dc.identifier.doi 10.1109/ACCESS.2020.3027858 -
dc.identifier.wosid 000584799400001 -
dc.identifier.scopusid 2-s2.0-85100292340 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname IEEE Access -
dc.contributor.localauthor Lee, Junyoung -
dc.contributor.localauthor Chang, Pyung Hun -
dc.contributor.localauthor Yu, Byeonggi -
dc.contributor.localauthor Seo, Kap-Ho -
dc.contributor.localauthor Jin, Maolin -
dc.contributor.nonIdAuthor Lee, Junyoung -
dc.contributor.nonIdAuthor Chang, Pyung Hun -
dc.contributor.nonIdAuthor Yu, Byeonggi -
dc.contributor.nonIdAuthor Seo, Kap-Ho -
dc.contributor.nonIdAuthor Jin, Maolin -
dc.identifier.citationVolume 8 -
dc.identifier.citationStartPage 192229 -
dc.identifier.citationEndPage 192238 -
dc.identifier.citationTitle IEEE Access -
dc.type.journalArticle Article -
dc.description.isOpenAccess Y -
dc.subject.keywordAuthor control -
dc.subject.keywordAuthor robot manipulator -
dc.subject.keywordAuthor sliding mode control -
dc.subject.keywordAuthor time-delay estimation -
dc.subject.keywordPlus IMPEDANCE CONTROL -
dc.subject.keywordPlus ROBUST-CONTROL -
dc.subject.keywordPlus TRACKING -
dc.subject.keywordPlus MOTION -

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