A Widely Adaptive Time-Delayed Control and Its Application to Robot Manipulators
SCIE
SCOPUS
- Title
- A Widely Adaptive Time-Delayed Control and Its Application to Robot Manipulators
- Authors
- BAEK, JAE MIN; KWON, WOOKYUNG; KIM, BEOMSU; HAN, SOOHEE
- Date Issued
- 2019-07
- Publisher
- Institute of Electrical and Electronics Engineers
- Abstract
- This paper presents a widely adaptive timedelayed control (WATDC) without imposing any restrictions on allowable control gains to make the most of the advantages of time-delayed control (TDC) and, then, applies the WATDC to robot manipulators. Since the proposed WATDC can provide arbitrarily high gains by using the time-varying bounds of time-delayed estimation errors, it has a room for improving the tracking performance and robustness of the existing stabilizing TDCs that have narrow range of control gains depending on system parameters comprising the inertia of a robot manipulator. Furthermore, the proposed WATDC employs a fast adaptive law to generate wide-ranging and well-timed control gains that depend on the magnitude of tracking errors. In other words, timely adaptation over a wide range of control gains makes the WATDC provide suitable control effort for desirable output responses. Additionally, to suppress unfavorable inherent time-delayed estimation errors arising from one sample delayed measurements, the proposed WATDC works together with a sliding-mode control that has switching gains based on the time-varying bounds of time-delayed estimation errors. In simulations and experiments with robot manipulators, the proposed WATDC has better tracking performance and robustness than the existing TDCs due to a wide range of adaptive control gains and the time-delayed-estimation-error-dependent switching gains.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/95235
- DOI
- 10.1109/TIE.2018.2869347
- ISSN
- 0278-0046
- Article Type
- Article
- Citation
- IEEE Transactions on Industrial Electronics, vol. 66, no. 7, page. 5332 - 5342, 2019-07
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