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A Widely Adaptive Time-Delayed Control and Its Application to Robot Manipulators.
- Source :
-
IEEE Transactions on Industrial Electronics . Jul2019, Vol. 66 Issue 7, p5332-5342. 11p. - Publication Year :
- 2019
-
Abstract
- This paper presents a widely adaptive time-delayed 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 66
- Issue :
- 7
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 135140741
- Full Text :
- https://doi.org/10.1109/TIE.2018.2869347