An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators
The time-delay control (TDC) has recently been spotlighted as an effective solution owing to model-free, efficient, and robust properties thanks to a time-delay estimation (TDE) technique. The gain of TDC, usually denoted by M̅, is crucial for its stability and performance, and it is repo...
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doaj-5824b9da4f7a4e5e924f0cb95eda8f362021-03-30T03:26:23ZengIEEEIEEE Access2169-35362020-01-01819222919223810.1109/ACCESS.2020.30278589209960An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot ManipulatorsJunyoung Lee0https://orcid.org/0000-0002-3593-0924Pyung Hun Chang1https://orcid.org/0000-0002-8010-1359Byeonggi Yu2https://orcid.org/0000-0003-3941-8378Kap-Ho Seo3Maolin Jin4https://orcid.org/0000-0001-5420-9705Human-Centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence, Pohang, South KoreaDepartment of Robotics Engineering, Daegu–Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics Engineering, Daegu–Gyeongbuk Institute of Science and Technology, Daegu, South KoreaInteractive Robotics Research and Development Division, Korea Institute of Robotics and Technology Convergence, Pohang, South KoreaHuman-Centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence, Pohang, South KoreaThe time-delay control (TDC) has recently been spotlighted as an effective solution owing to model-free, efficient, and robust properties thanks to a time-delay estimation (TDE) technique. The gain of TDC, usually denoted by M̅, is crucial for its stability and performance, and it is reported that the constant gain of TDC does not always guarantee the best performance. To cope with this problem, this paper proposes an effective gain adaptation together with a nonlinear desired error dynamics and a new sliding variable. The resulting adaptive gain dynamics is combined with the TDC to form the proposed control, whose closed-loop stability is proved. Through simulation and experiment, we have shown that the proposed control enables to transfer M̅ from an unstable initial value to a stable one, better than a best-tuned gain by trial and error. As a result, the proposed control is model-free, able to achieve time responses as fast as the inclusive enhanced TDC (IETDC) - arguably the fastest TDC - and tracking accuracy better than the IETDC. The proposed method has shown a strong potential to significantly relieve the burden of gain selection.https://ieeexplore.ieee.org/document/9209960/Adaptive controlrobot manipulatorsliding mode controltime-delay estimation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Junyoung Lee Pyung Hun Chang Byeonggi Yu Kap-Ho Seo Maolin Jin |
spellingShingle |
Junyoung Lee Pyung Hun Chang Byeonggi Yu Kap-Ho Seo Maolin Jin An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators IEEE Access Adaptive control robot manipulator sliding mode control time-delay estimation |
author_facet |
Junyoung Lee Pyung Hun Chang Byeonggi Yu Kap-Ho Seo Maolin Jin |
author_sort |
Junyoung Lee |
title |
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators |
title_short |
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators |
title_full |
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators |
title_fullStr |
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators |
title_full_unstemmed |
An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators |
title_sort |
effective adaptive gain dynamics for time-delay control of robot manipulators |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
The time-delay control (TDC) has recently been spotlighted as an effective solution owing to model-free, efficient, and robust properties thanks to a time-delay estimation (TDE) technique. The gain of TDC, usually denoted by M̅, is crucial for its stability and performance, and it is reported that the constant gain of TDC does not always guarantee the best performance. To cope with this problem, this paper proposes an effective gain adaptation together with a nonlinear desired error dynamics and a new sliding variable. The resulting adaptive gain dynamics is combined with the TDC to form the proposed control, whose closed-loop stability is proved. Through simulation and experiment, we have shown that the proposed control enables to transfer M̅ from an unstable initial value to a stable one, better than a best-tuned gain by trial and error. As a result, the proposed control is model-free, able to achieve time responses as fast as the inclusive enhanced TDC (IETDC) - arguably the fastest TDC - and tracking accuracy better than the IETDC. The proposed method has shown a strong potential to significantly relieve the burden of gain selection. |
topic |
Adaptive control robot manipulator sliding mode control time-delay estimation |
url |
https://ieeexplore.ieee.org/document/9209960/ |
work_keys_str_mv |
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