Velocity-Free Adaptive Time Delay Control of Robotic System
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-24
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
To improve the trajectory tracking performance of a complex nonlinear robotic system, a velocity-free adaptive time delay control is proposed.
First, considering that conventional time delay control (TDC) may cause large time delay estimation (TDE) error under nonlinear friction, a TDC with gradient estimator is designed.
Next, since it is complicated and time-consuming to adjust gains manually, an adaptive law is designed to estimate the gain of the gradient.
Finally, in order to avoid the measurement of velocity and acceleration in the controller while enabling the robot to implement position tracking, an observer is designed.
The proposed control can not only offset the nonlinear terms in the complex dynamics of the robotic system but also reduce the TDE error, estimate the gain of the gradient online, and avoid the measurement of velocity and acceleration.
The stability of the system is analyzed via Lyapunov function.
Simulations are conducted on a 2-DOF robot to verify the effectiveness of the proposed control.
American Psychological Association (APA)
Chen, Shini& Liu, Xia. 2020. Velocity-Free Adaptive Time Delay Control of Robotic System. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1202027
Modern Language Association (MLA)
Chen, Shini& Liu, Xia. Velocity-Free Adaptive Time Delay Control of Robotic System. Mathematical Problems in Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1202027
American Medical Association (AMA)
Chen, Shini& Liu, Xia. Velocity-Free Adaptive Time Delay Control of Robotic System. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1202027
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202027