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Adaptive time-delay control with a supervising switching technique for robot manipulators.
- Source :
-
Transactions of the Institute of Measurement & Control . Sep2017, Vol. 39 Issue 9, p1374-1382. 9p. - Publication Year :
- 2017
-
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]
Details
- Language :
- English
- ISSN :
- 01423312
- Volume :
- 39
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- Transactions of the Institute of Measurement & Control
- Publication Type :
- Academic Journal
- Accession number :
- 124826423
- Full Text :
- https://doi.org/10.1177/0142331216637118