This paper presents a new adaptive sliding-mode control (ASMC) scheme that uses the time-delay estimation (TDE) technique, then applies to robot manipulators. The proposed ASMC law achieve good tracking performance with small chattering effect. considers an arbitrarily vicinity of sliding manifold, in which derivatives gains are inversely proportional variables. Such provides remarkably fast adaptation and reduction near manifold. To yield desirable closed-loop poles simplify complicated...

This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about dynamics TDE. Despite its model-free nature, provides high-accuracy robustness against parameters variations. simplicity, robustness, of are verified through both 2-DOF planar simulations 3-DOF PUMA-type experiments.

This paper presents an adaptive position control for a pump- controlled electrohydraulic actuator (EHA) based on backstepping scheme. The core feature of this is the combination modified algorithm with special adaptation law to compensate all nonlinearities and uncertainties in EHA system. First all, mathematical model developed. then formulated using technique hydraulic system are adapted by employing Lyapunov function. signal consists simple robust structure ensure robustness corresponding...

This paper presents an adaptive robust controller for robot manipulators using integral sliding mode control and time-delay estimation (TDE). The proposed employs TDE to estimate dynamics with uncertainties such as parameter variations disturbances, surface eliminate the reaching phase together noise-sensitive switching action used in conventional control, adaptation gain achieve applicable high accuracy. Experimental studies a programmable universal machine assembly-type industrial...

We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe mathematical model of hysteresis effect and other nonlinearities; thus, it is simple free. consists three elements that clear meaning: TDE element cancels nonlinearities in the SMA dynamics, an injection specifies desired (TSM) reaching using fast sliding manifold activated accordingly when system...

A model-free robust adaptive controller is proposed for control of humanoid robots with flexible joints. The uses a time-delay estimation technique to estimate and cancel nonlinear terms in robot dynamics including disturbance torques due the joint flexibility, assigns desired specified by sliding variable. gain-adaptation law developed dynamically update gain using magnitude variable itself. leakage term prevent overestimation value, offers stable chattering-free action. effectiveness...

A simple robust compliant-motion-control technique is presented for a robot manipulator with nonlinear friction. The control incorporates both time-delay-estimation and ideal velocity feedback; the former used to cancel out soft nonlinearities, latter serves reduce effect of hard including Coulomb friction stiction. proposed controller has structure yet provides good online compensation without modeling robustness method been confirmed through comparisons other controllers in 2-DOF...

Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple yet effective alternative robot model-based controls and/or intelligent controls. An inclusive enhanced formulation of TDC for robust manipulators is presented in this paper. The proposed consists three intuitive terms: 1) estimation (TDE), inherited from the original TDC, cancellation mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., "mass"-"nonlinear damper"-...

This paper proposes a new adaptive-robust control (ARC) strategy for tracking problem of class uncertain Euler-Lagrange systems. The proposed time-delay (ARTDC) amalgamates the ARC with (TDC). It comprises three parts: estimation part, desired dynamics injection and an part. main feature ARTDC is that it does not involve any threshold value in its adaptive law; thus, allows switching gain to increase or decrease whenever error trajectories move away close surface, respectively. Thus,...

This letter presents a gripper module for snake-like robot to perform search and rescue tasks in narrow space. The proposed has three features: (1) It can accommodate the fingers inside its body. (2) that grip objects with irregular surfaces stably. (3) One of is equipped camera on fingertip To implement above features small, light, compact module, we propose novel design eight degrees freedom. joint configuration unique compared general-type gripper. A prototype been integrated into...

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> It has been reported that, in impedance control, there exists a dilemma between accuracy and robustness against modeling error. As solution to this dilemma, an accurate robust control technique is developed based on internal model structure time-delay estimation: the former injects desired corrects error, latter estimates compensates nonlinear dynamics of robot manipulators. Owing simple...

Proportional-integral-derivative (PID) controllers with constant gains seldom meet desired performance when system dynamics rapidly changes due to unknown disturbances. A gain tuning method for variable PID is presented in this paper. First, the equivalence relationship between a discrete control and backstepping time-delay estimation nonlinear damping clarified, of controller are automatically tuned component. The terms directly affect make vary. proposed compared that controller....

Time delay control (TDC) is a promising technique for robot manipulators because it model-free, efficient, and yet, robust. Nevertheless, when operates under significant payload changes, difficult to achieve satisfactory performance with constant gain. To cope this problem, several adaptive rules have already been proposed thus far, but they are less effective parameter tuning procedures too complicated. In paper, we propose an gain dynamics that more in changes yet simpler implement....

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> In this paper, the robustness problem in time-delay control (TDC) is considered presence of nonlinear friction dynamics robot manipulators. As a remedy for problem, TDC enhanced with compensator based on internal model (IMC). The and stability proposed method have been analyzed to be effective against while preserving positive attributes TDC: It simple, efficient, easily applicable because it...

Time-delay control has been verified as a simple and robust controller for robot manipulators. However, time-delay estimation (TDE) error inherently exists critically affects both the closed-loop stability performance. In this paper, we propose remedy TDE that involves combination of nonlinear damping component novel fast-convergent dynamics. Nonlinear incorporated with backstepping design is adopted to counteract ensure stability. The dynamics, constructed by means terminal sliding mode...

Significant payload variations often occur in many practical tasks for robotic applications. But its adequate control is a formidable challenge to designers, and previous research works have exhibited either limited performance or noticeable difficulties implementation. In this article, we proposed an adaptive PID that simple, model-free, robust against variations. These advantages, already verified from the time-delay (TDC), been inherited through equivalence relationship between two...

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. uses electrohydraulic actuators as primary torque generators to enhance carrying of the manipulator. proposed combines backstepping sliding mode control, logic system (FLS), and nonlinear disturbance observer. includes dynamics PI actuator dynamics. is utilized adjust gain robust (SMC) based on output observer compensate payload. Lyapunov approach technique are used prove...

Time-delay control (TDC) has been widely used to various systems thanks its simplicity and robustness. The distribution matrix of TDC is assumed be constant tuned heuristically. However, the gain could degrade system performance even cause closed-loop become unstable when parameters are substantially changing, resulting in violation stability criterion TDC. We propose an algorithm for automatic tuning order guarantee by using a modified Nussbaum function. Thus, controlled with function...

A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists three elements: a time-delay-estimation element that cancels continuous nonlinearities dynamics, an injecting endows desired error and correcting suppresses residual caused by discontinuous nonlinearities. Terminal sliding mode used the to pursue fast convergence error. Implementation proposed easy because calculation dynamics including friction not...

This paper presents an adaptive output feedback control for a manipulator under the presence of time-varying constraint and uncertainties. The proposed is formulated based on nonlinear extended state observer barrier Lyapunov function. developed to estimate unmeasured states lumped Because term in includes linear fractional-order term, its performance enhanced significantly. Additionally, function applied guarantee constraint, which changes with respect desired trajectory time. asymptotic...