Differentiator‐based time delay control for uncertain robot manipulators

Abstract

AbstractHigh‐quality acceleration signal plays a significant role in fast and precise trajectory tracking of robot manipulators via time delay control (TDC). This paper proposes a fast transient tracking differentiator (FTD) for obtaining the noise‐less time derivative from a noisy measurement within the framework of tracking differentiator (TD) design methodology. Global asymptotic convergence of the proposed FTD is proven by Lyapunov's direct method and TD theory. The proposed FTD is cascaded to construct an acceleration estimation and is integrated with the commonly used TDC for an improved trajectory tracking of robot manipulators in the presences of parametric uncertainties and bounded disturbances. Numerical simulations and real‐time experimental validation comparisons demonstrate that the proposed approach provides an easy‐going model‐free improved design for fast and accurate trajectory tracking of robot manipulators with position measurement only.