Abstract
A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct the articulated robot dynamics exploiting the time-delay estimation (TDE) technique. The closed-loop error dynamics is described with sliding variables and TDE error; then, the Plestan’s sliding mode based gain-adaptation law is incorporated with the TDE technique. The stability of the overall dynamics is proven in the sense of Lyapunov. As a result, self-tuning of the gain is realized through the sliding variable. When the TDE error increases due to the nonlinear effect such as friction, the adaptive gain is automatically adjusted to counteract the TDE error. Chattering can be avoided because the sliding mode based gain dynamics does not allow the gain increase to an excessively high value. The superiority of the proposed self-tuning controller is demonstrated by comparative experiments on a multiple joints robot setup.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Precision Engineering and Manufacturing
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.
