Abstract
A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high-accuracy trajectory tracking of industrial robot manipulators.
Highlights
Conventional model based controls of robot manipulators require calculations of nonlinear robot models [1, 2].Implementation of these controls are not easy due to computational complexity of the robot models, and impossible if precise models of the robot manipulators are unknown
Since Hsias, Jins and the proposed controls are based on the same uncertainty cancelation scheme ‐‐ time‐delay estimation (TDE), the performance difference is likely to be accounted for by the Terminal sliding mode (TSM)
The peaks of the tracking error shown in Fig. 7. (c) and (d) came from the TDE error due to discontinuity of Coulomb friction [14], through which the TSM is shown effective on counteracting the tracking deviation caused by the TDE error
Summary
Conventional model based controls of robot manipulators require calculations of nonlinear robot models [1, 2]. Implementation of these controls are not easy due to computational complexity of the robot models, and impossible if precise models of the robot manipulators are unknown. To cope with this problem, intelligent control techniques (neural‐network or fuzzy logic) have received considerable attention in the last two decades [3,4,5,6,7]. The TDE technique has motivated the time delay control (TDC), which consists of
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