Robust Trajectory Control of Robot Manipulators Using Time Delay Control with Adaptive Compensator
نویسندگان
چکیده
An enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of hard nonlinearities is proposed. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of hard nonlinearity. The method of steepest descent, which is a type of adaptive control scheme, is used to solve this problem in order to develop an enhanced controller. The proposed controller is called TDC with Adaptive Compensator (TDCAC). The adaptive compensator of TDCAC serves as a type of high pass filter for the effect of hard nonlinearities and is very intuitional for choosing the adaptive gain of the adaptive compensator. The robustness of TDCAC is verified by experiment.
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