Adaptive time-delay control with a supervising switching technique for robot manipulators
- Title
- Adaptive time-delay control with a supervising switching technique for robot manipulators
- Author(s)
- Cho, Seung-Jae ; Lee, Jin S ; Kim, Jinwook ; Kuc, Tae-Yong ; Chang, Pyung-Hun ; Jin, Maolin
- Issued Date
- 2017
- Type
- Article
- Article Type
- Article
- Subject
- Adaptive Control ; Bioelectric Phenomena ; Delay Control Systems ; Flexible Manipulators ; Functions ; Industrial Robots ; Manipulators ; Modular Robots ; Nussbaum Function ; Nussbaum Functions ; Robot Applications ; Robots ; Supervising Switching Technique (SST) ; Switching Techniques ; Time Delay ; Time Delay Control (TDC) ; Time Delay Estimation (TDE) ; Timing Circuits
- ISSN
- 0142-3312
- Abstract
- This paper presents adaptive time-delay control (TDC) with a supervising switching technique (SST) for controlling robot manipulators. Two adaptive techniques are used to enhance the TDC. The control gain of TDC is adaptively tuned using a class of Nussbaum functions. With Nussbaum functions, compared with conventional TDC using a constant gain, the proposed control using Nussbaum functions can deal with inertia parameter variations due to the movement of a robot manipulator. The SST is used to deal with discontinuous disturbances. The proposed control is model-free, highly accurate, robust and adaptive. © 2017, © The Author(s) 2017.
- Publisher
- SAGE Publications Ltd
- Files in This Item:
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Rehabilitation Robotics Lab 1. Journal Articles
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