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Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
- Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
- Jin, Maolin; Kang, Sang Hoon; Chang, Pyung Hun; Lee, Jinoh
- Issue Date
- IEEE/ASME Transactions on Mechatronics, 22(5), 2141-2152
- Article Type
- Bioelectric Phenomena; Control; Control Scheme; Converter; Delay Control Systems; Delay Effects; Dynamics; Dynamics (DED); Error Correction; Error Dynamics; Errors; Estimation; Flexible Manipulators; Friction; Inclusive Formulation; Industrial Robots; Intelligent Robots; Manipulator Dynamics; Manipulators; Model-Free Control; Model-Free Control (MFC); Modular Robots; Motion; Neural-Networks; Nonlinear; Nonlinear Analysis; Nonlinear Desired Error; Nonlinear Desired Error Dynamics; Nonlinear Sliding Surface; Pendulums; Performance; Robot Applications; Robot Manipulator; Robot Manipulators; Robots; Robust Control; Sliding Mode Control; Surface; Systems; Terminal Sliding-Mode; Time Delay; Time Delay Control; Time Delay Control (TDC); Time Delay Estimation; Time Delay Estimation (TDE); Timing Circuits; Torque; Tracking Control
- Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term. © 1996-2012 IEEE.
- Institute of Electrical and Electronics Engineers Inc.
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