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  4. An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators
 
research article

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

Boudjedir, Chems Eddine
•
Bouri, Mohamed  
•
Boukhetala, Djamel
October 3, 2022
Ieee Transactions On Control Systems Technology

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to remove the reaching phase and improve the robustness of the control, an integral sliding surface (ISS) is used. Second, to speed up the convergence and compensate for the TDE errors and external disturbances, the gains of time delay control and the sliding mode have been made adaptive. In this article, we clearly point out using the Lyapunov method that the position and velocity tracking errors are guaranteed to be uniformly ultimately bounded (UUB). The effectiveness and the robustness of the designed controller over existing methods are experimentally verified on a parallel Delta robot. The novel model-free proposed control is robust and highly accurate, which is appropriate and recommended for industrial robotic applications.

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Type
research article
DOI
10.1109/TCST.2022.3208491
Web of Science ID

WOS:000865060500001

Author(s)
Boudjedir, Chems Eddine
Bouri, Mohamed  
Boukhetala, Djamel
Date Issued

2022-10-03

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Published in
Ieee Transactions On Control Systems Technology
Subjects

Automation & Control Systems

•

Engineering, Electrical & Electronic

•

Automation & Control Systems

•

Engineering

•

manipulator dynamics

•

robustness

•

delay effects

•

adaptive control

•

vehicle dynamics

•

service robots

•

adaptation models

•

adaptive control

•

delta robot

•

integral sliding surface (iss)

•

model-free

•

time delay estimation (tde)

•

iterative learning control

•

nonlinear-systems

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

Available on Infoscience
October 24, 2022
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/191557
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