A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach

Abstract

SummaryThis paper addresses a new robust control scheme for tracking control of the robot manipulators. This algorithm employs time delay estimation (TDE) technique in combination with backstepping control strategy. The suggested control scheme has no dependency on the robot dynamic model and knowing the bound of the inertia matrix is enough to develop this controller. To develop the idea, at first the boundedness of the TDE errors is analyzed by Lyapunov‐Krasovskii approach. Next, the proposed TDE based adaptive backstepping nonsingular terminal sliding mode control (ABNTSMC) algorithm is developed. In this way, a novel adaptive‐robust term is employed to defeat the chattering phenomenon. Moreover, the closed‐loop stability of the system is proven through Lyapunov second approach. Fast transient response, supreme robustness, and chattering‐free as the premier specifications are gained employing the proposed control algorithm. The efficiency of the suggested control scheme is illustrated through some simulations on an industrial robot and the results are compared with some other control algorithms. Finally, the practical effectiveness of the proposed TDE based control algorithm is verified through some experiments on a parallelogram robot manipulator.