This paper presents adaptive time-delay control (TDC) with a supervising switching technique (SST) for controlling robot manipulators. Two adaptive techniques are used to enhance the TDC. The control gain of TDC is adaptively tuned using a class of Nussbaum functions. With Nussbaum functions, compared with conventional TDC using a constant gain, the proposed control using Nussbaum functions can deal with inertia parameter variations due to the movement of a robot manipulator. The SST is used to deal with discontinuous disturbances. The proposed control is model-free, highly accurate, robust and adaptive.
ChangY (2009) Adaptive sliding mode control of multi-input nonlinear systems with perturbations to achieve asymptotical stability. IEEE Transactions on Automatic Control54(12): 2863–2869.
2.
ChengW (2015) Neural-fuzzy control of a flexible dynamic tracking and adjusting manipulator. Transactions of the Institute of Measurement and Control37(7): 883–891.
3.
ChoGRChangPHParkSHet al. (2009) Robust tracking under nonlinear friction using time-delay control with internal model. IEEE Transactions on Control Systems Technology17(6): 1406–1414.
4.
ChoSJJinMKucTYet al. (2014a) Control and synchronization of chaos systems using time-delay estimation and supervising switching control. Nonlinear Dynamics75(2): 549–560.
5.
ChoSJJinMKucTYet al. (2014b) Stability guaranteed auto-tuning algorithm of a time-delay controller using a modified Nussbaum function. International Journal of Control87(9): 1926–1935.
6.
CraigJ (2004) Introduction to Robotics: Mechanics and Control. 3rd ed.Upper Saddle River, NJ: Prentice Hall.
7.
DuHGeSSLiuJK (2010) Adaptive neural network output feedback control for a class of non-affine non-linear systems with unmodelled dynamics. IET Control Theory & Applications5(3): 465–477.
8.
ErMJGaoY (2003) Robust adaptive control of robot manipulators using generalized fuzzy neural networks. IEEE Transactions on Industrial Electronics50(3): 620–628.
9.
GengJShengYLiuX (2014) Time-varying nonsingular terminal sliding mode control for robot manipulators. Transactions of the Institute of Measurement and Control36(5): 604–617.
10.
GeSSJingW (2002) Robust adaptive neural control for a class of perturbed strict feedback nonlinear systems. IEEE Transactions on Neural Networks13(6): 1409–1419.
11.
HanSLeeJ (2014) Fuzzy echo state neural networks and funnel dynamic surface control for prescribed performance of a nonlinear dynamic system. IEEE Transactions on Industrial Electronics61(2): 1099–1112.
12.
HsiaT (1989) A new technique for robust control of servo systems. IEEE Transactions on Industrial Electronics36(1): 1–7.
13.
HsiaTGaoL (1990) Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers. In: Proceedings of the 1990 IEEE international conference on robotics and automation, pp.2070–2075.
14.
HsiaTJungS (1995) A simple alternative to neural network control scheme for robot manipulators. IEEE Transactions on Industrial Electronics42(4): 414–416.
15.
HsiaTCLaskyTAGuoZ (1991) Robust independent joint controller design for industrial robot manipulators. IEEE Transactions on Industrial Electronics38(1): 21–25.
16.
HuangYJKuoTCChangSH (2008) Adaptive sliding-mode control for nonlinear systems with uncertain parameters. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics38(2): 534–539.
17.
IshiguroAFuruhashiTOkumaSet al. (1992) A neural network compensator for uncertainties of robotics manipulators. IEEE Transactions on Industrial Electronics39(6): 565–570.
18.
JinMJinYChangPHet al. (2011) High-accuracy tracking control of robot manipulators using time delay estimation and terminal sliding mode. International Journal of Advanced Robotic Systems8(4): 65–78.
19.
JinMKangSHChangPH (2008) Robust compliant motion control of robot with nonlinear friction using time-delay estimation. IEEE Transactions on Industrial Electronics55(1): 258–269.
20.
JinMLeeJAhnKK (2015) Continuous nonsingular terminal sliding-mode control of shape memory alloy actuators using time delay estimation. IEEE/ASME Transactions on Mechatronics20(2): 899–909.
21.
JinMLeeJOChangPHet al. (2009) Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control. IEEE Transactions on Industrial Electronics56(9): 3593–3601.
22.
LeeJChangPHJamisolaRS (2014) Relative impedance control for dual-arm robots performing asymmetric bimanual tasks. IEEE Transactions on Industrial Electronics61(7): 3786–3796.
23.
LewisFLAbdallahCTDawsonDM (1993) Control of Robot Manipulators. New York, NY: Macmillan.
24.
LiHBaiYSuZ (2011) Adaptive sliding mode control of electromechanical actuator with improved parameter estimation. In: 2011 eighth Asian control conference (ASCC), pp.608–612.
25.
LinCK (2006) Nonsingular terminal sliding mode control of robot manipulators using fuzzy wavelet networks. IEEE Transactions on Fuzzy Systems14(6): 849–859.
26.
NussbaumRD (1983) Some remarks on a conjecture in parameter adaptive control. Systems & Control Letters3(5): 243–246.
27.
WangXNiuRChenCet al. (2014) H∞ switched adaptive control for a class of robot manipulators. Transactions of the Institute of Measurement and Control36(3): 347–353.
28.
XiaoBHuQZhangY (2012) Adaptive sliding mode fault tolerant attitude tracking control for flexible spacecraft under actuator saturation. IEEE Transactions on Control Systems Technology20(6): 1605–1612.
29.
Youcef-ToumiKHuangSY (1993) Analysis of a time delay control based on convolutions. In: American control conference, pp.2582–2586.
30.
Youcef-ToumiKItoO (1988) A time delay controller for systems with unknown dynamics. In: American control conference, pp.904–913.
31.
Youcef-ToumiKItoO (1990) A time delay controller for systems with unknown dynamics. Journal of Dynamic Systems, Measurement, and Control112(1): 133–142.
32.
Youcef-ToumiKWuST (1992) Robustness and stability analysis of time delay control. In: American control conference, pp.2691–2695.
33.
ZhangTPGeSS (2007) Adaptive neural control of MIMO nonlinear state time-varying delay systems with unknown dead-zones and gain signs. Automatica43(6): 1021–1033.
34.
ZhuZXiaYFuM (2011) Adaptive sliding mode control for attitude stabilization with actuator saturation. IEEE Transactions on Industrial Electronics58(10): 4898–4907.
