1. Adaptive time-delay control with a supervising switching technique for robot manipulators.
- Author
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Seung-Jae Cho, Lee, Jin S., Jinwook Kim, Tae-Yong Kuc, Pyung-Hun Chang, and Maolin Jin
- Subjects
- *
ROBOT control systems , *MANIPULATORS (Machinery) , *ADAPTIVE control systems , *ROBUST control , *PARAMETERS (Statistics) - 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. [ABSTRACT FROM AUTHOR]
- Published
- 2017
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