Velocity-Free Adaptive Time Delay Control of Robotic System
نویسندگان
چکیده
منابع مشابه
Time Delay Compensation Control Structure for a Robotic Teleoperation System
In this paper a time delay compensation control structure for a robot teleoperation system is presented. The structure design was made considering 1.9-seconds time delay in the communication between the remote and local stations. The objective is to control both the remote manipulator’s position and force. Force and position signals are fedback to the local station so that the human operator fe...
متن کاملDiscrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
متن کاملDecentralized Adaptive Control of Large-Scale Non-affine Nonlinear Time-Delay Systems Using Neural Networks
In this paper, a decentralized adaptive neural controller is proposed for a class of large-scale nonlinear systems with unknown nonlinear, non-affine subsystems and unknown nonlinear time-delay interconnections. The stability of the closed loop system is guaranteed through Lyapunov-Krasovskii stability analysis. Simulation results are provided to show the effectiveness of the proposed approache...
متن کاملImproving the velocity tracking of cruise control system by using adaptive methods
Accurate and correct performance of controller in cruise control systems is important. Hence, in such systems, controller should optimize itself against noise and probable changes in system dynamic. As a matter of fact, in this article three approaches have been conducted to-ward this purpose: MIT, direct estimation and indirect estimation. These approaches are used as controllers to track refe...
متن کاملContinuous-Time Adaptive Delay System
We have developed an adaptive delay system that adjusts the delay of a delay element so that it matches the temporal disparity between the onset of two input signals. The delay is controlled either by an external bias voltage, or by an intrinsic signal derived from an adaptive block. The operation of the adaptive delay system is similar to that of a charge-pump p h e l o c k loop, with an exten...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2020
ISSN: 1563-5147,1024-123X
DOI: 10.1155/2020/9160592