An Enhanced Time-Delay Control using a Second-Order Time-Delay Estimation for Robot Manipulators

Abstract

In this thesis, I present analysis of Time-Delay Control (TDC) and Enhanced Time-Delay Control (ETDC) for robot manipulators. Each control will be analyzed and represented by their characteristics. In addition, a new controller with combining strong points from each control scheme will be proposed. Time-Delay Control is a well-known controller because it is simple and robust, but it has a problem; Time Delay Estimation (TDE) errors occur because the TDC uses TDE scheme to estimate uncertainties of robot manipulators with discontinuous dynamics, also known as hard nonlinearities. In order to remedy the problem, ETDC is proposed. While it compensates for the TDE error, a new problem is created: chattering. In order to alleviate the problem, a new controller, which is much more robust than ETDC is proposed. It also shows better initial error than ETDC. Simulations and experimentations show the effectiveness of the proposed controller. ⓒ 2013 DGIST