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首页> 外文期刊>IEEE Transactions on Industrial Electronics >A Widely Adaptive Time-Delayed Control and Its Application to Robot Manipulators
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A Widely Adaptive Time-Delayed Control and Its Application to Robot Manipulators

机译：广泛自适应的时滞控制及其在机器人操纵器中的应用

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摘要

This paper presents a widely adaptive timedelayed control (WATDC) without imposing any restrictions on allowable control gains to make the most of the advantages of time-delayed control (TDC) and, then, applies the WATDC to robot manipulators. Since the proposed WATDC can provide arbitrarily high gains by using the time-varying bounds of time-delayed estimation errors, it has a room for improving the tracking performance and robustness of the existing stabilizing TDCs that have narrow range of control gains depending on system parameters comprising the inertia of a robot manipulator. Furthermore, the proposed WATDC employs a fast adaptive law to generate wide-ranging and well-timed control gains that depend on the magnitude of tracking errors. In other words, timely adaptation over a wide range of control gains makes the WATDC provide suitable control effort for desirable output responses. Additionally, to suppress unfavorable inherent time-delayed estimation errors arising from one sample delayed measurements, the proposed WATDC works together with a sliding-mode control that has switching gains based on the time-varying bounds of time-delayed estimation errors. In simulations and experiments with robot manipulators, the proposed WATDC has better tracking performance and robustness than the existing TDCs due to a wide range of adaptive control gains and the time-delayed-estimation-error-dependent switching gains.
机译：本文提出了一种广泛的自适应时间延迟控制（WATDC），而没有对允许的控制增益施加任何限制，以充分利用时间延迟控制（TDC）的优势，然后将WATDC应用于机器人操纵器。由于拟议的WATDC可以通过使用随时间变化的时延估计误差来提供任意高的增益，因此它具有改善跟踪性能和现有稳定TDC的空间，这些稳定TDC的控制增益取决于系统参数，范围狭窄包括机器人操纵器的惯性。此外，提出的WATDC采用快速自适应定律来生成取决于跟踪误差大小的宽范围和适时的控制增益。换句话说，在广泛的控制增益范围内进行及时调整，可使WATDC为所需的输出响应提供适当的控制工作。另外，为了抑制由于一次采样延迟测量而产生的不利的固有时延估计误差，建议的WATDC与滑模控制一起工作，该滑模控制具有基于时滞估计误差的时变边界的切换增益。在机器人操纵器的仿真和实验中，由于广泛的自适应控制增益和随时间变化的估计误差而引起的开关增益，提出的WATDC具有比现有TDC更好的跟踪性能和鲁棒性。

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