Abstract
We present an analytical design and experimental verification of trajectory-tracking control of a 7-DOF robot manipulator with an unknown long actuator delay. To compensate for this unknown delay, we formulate a delay-adaptive prediction-based control strategy to simultaneously estimate the unknown delay while driving the robot manipulator toward the desired trajectory. To the best of the authors’ knowledge, this article is the first to present a delay-adaptive approach for a nonlinear system with multiple inputs. Through Lyapunov analysis, we first establish local input-to-state stability with respect to temporal derivatives of the reference trajectory, along with regulation of the tracking errors when the reference trajectory approaches a stationary configuration. Then, through both simulation and experiment, we demonstrate that the proposed controller is capable of tracking the desired trajectory with desirable performance despite a large initial delay mismatch, which would cause nonadaptive prediction-based controllers to become unstable.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.