IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/9160592.html
   My bibliography  Save this article

Velocity-Free Adaptive Time Delay Control of Robotic System

Author

Listed:
  • Shini Chen
  • Xia Liu

Abstract

To improve the trajectory tracking performance of a complex nonlinear robotic system, a velocity-free adaptive time delay control is proposed. First, considering that conventional time delay control (TDC) may cause large time delay estimation (TDE) error under nonlinear friction, a TDC with gradient estimator is designed. Next, since it is complicated and time-consuming to adjust gains manually, an adaptive law is designed to estimate the gain of the gradient. Finally, in order to avoid the measurement of velocity and acceleration in the controller while enabling the robot to implement position tracking, an observer is designed. The proposed control can not only offset the nonlinear terms in the complex dynamics of the robotic system but also reduce the TDE error, estimate the gain of the gradient online, and avoid the measurement of velocity and acceleration. The stability of the system is analyzed via Lyapunov function. Simulations are conducted on a 2-DOF robot to verify the effectiveness of the proposed control.

Suggested Citation

  • Shini Chen & Xia Liu, 2020. "Velocity-Free Adaptive Time Delay Control of Robotic System," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-14, November.
    • Handle: RePEc:hin:jnlmpe:9160592
    DOI: 10.1155/2020/9160592
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2020/9160592.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2020/9160592.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/9160592?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:9160592. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.