Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers

Hsia, T.C.; Gao, Long

doi:10.1109/robot.1990.126310

Cited by 223 publications

(153 citation statements)

References 10 publications

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“…More details about the stability condition and the design of TDC can be found in [4][11]. More specifically, if the constant matrix B is satisfied with + I -BB < 1 , the system is stable.…”

Section: Tdcsamentioning

confidence: 99%

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Lee

Chang

2003

Journal of Dynamic Systems, Measurement, and Control

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The Time Delay Control with Switching Action (TDCSA) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an antiwindup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.

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“…More details about the stability condition and the design of TDC can be found in [4][11]. More specifically, if the constant matrix B is satisfied with + I -BB < 1 , the system is stable.…”

Section: Tdcsamentioning

confidence: 99%

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Lee

Chang

2003

Journal of Dynamic Systems, Measurement, and Control

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“…In [7], [8], [26]- [27], [34], [35], TDC is used to provide robustness against uncertainties. In this process, all the uncertain terms are represented by a single function which is then approximated using control input and state information of the immediate past time instant.…”

mentioning

confidence: 99%

“…In this front, a few work have been carried out to tackle TDE which includes internal model [9], gradient estimator [10], ideal velocity feedback [11], nonlinear damping [12] and sliding mode based approach [13]- [14]. The stability of the closed loop system [9]- [11], [26]- [27], depends on the boundedness of TDE as shown in [7]. This method approximates the continuous time closed loop system in a discrete form without considering the effect of discretization error.…”

mentioning

confidence: 99%

“…This method approximates the continuous time closed loop system in a discrete form without considering the effect of discretization error. Again, the stability criterion mentioned in [7] restricts the allowable range of perturbation and thus limits controller working range. Stability of the system in [13] is established in frequency domain, which makes the approach inapplicable to the nonlinear systems.…”

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confidence: 99%

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Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback

Roy

Kar

Lee

et al. 2019

IEEE Trans. Contr. Syst. Technol.

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In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is presented. The proposed control strategy approximates the unknown dynamics through time-delayed logic, and the switching logic provides robustness against the approximation error. The novel adaptation law for the switching gain, in contrast to the conventional adaptive-robust control methodologies, does not require either nominal modelling or predefined bounds of the uncertainties. Also, the proposed adaptive law circumvents the overestimation-underestimation problem of switching gain. The state derivatives in the proposed control law is estimated from past data of the state to alleviate the measurement error when state derivatives are not available directly. Moreover, a new stability notion for time-delayed control is proposed which in turn provides a selection criterion for controller gain and sampling interval. Experimental result of the proposed methodology using a nonholonomic wheeled mobile robot (WMR) is presented and improved tracking accuracy of the proposed control law is noted compared to time-delayed control and adaptive sliding mode control.

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“…특히 호버링의 강점을 보여주 는 VTOL 구조의 비행체에서는 더욱 그러하다. 바람과 같은 외란은 자세뿐만 아니라 고도 유지에도 영향을 미치기 때문 에 본 논문에서는 외란에 강건하다고 알려져 있는 시간 지연 제어를 고도제어에 적용하였다 [20,21]. 선행연구에서는 외란관측기를 이용하여 쿼드로터 시스템 을 실외에서 제어하였고 [8] [ ]…”

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Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method

Lim¹,

Jung²

2014

Journal of Institute of Control, Robotics and Systems

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This paper presents the altitude control of a quadrotor system under the disturbance. The altitude is measured by an ultra sonic sensor attached at the bottom of the quadrotor system and the measured altitude data are used in the time-delayed controller. To test the robustness of the controller, a weight attached to the center of the system is dropped intentionally several times to cause disturbances to the system. Performances of the altitude control by the PID control and time-delayed control method are compared experimentally. Experimental studies are conducted to verify the outperformance of the time-delayed controller for controlling the altitude of the quadrotor system under disturbances.

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Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers

Cited by 223 publications

References 10 publications

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback

Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method

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