Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method

2021 ◽  
Vol 102 (3) ◽  
Author(s):  
Dongik Sun ◽  
Seunghoon Hwang ◽  
Jeakweon Han
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Control Method ◽  
Joint Space ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Position Control of 6-DOF Direct-Drive Wrist Joint Using Time Delay Control.

1995 ◽  
Vol 61 (584) ◽  
pp. 1543-1549
Author(s):  
Kiyoshi Maeda ◽  
Isawo Yasaka ◽  
Satoshi Tadokoro ◽  
Toshi Takamori
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Wrist Joint ◽  
Direct Drive ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Time delay control of cable-driven manipulators with artificial bee colony algorithm

2018 ◽  
Vol 42 (2) ◽  
pp. 177-186 ◽  
Author(s):  
Fei Yan ◽  
Yaoyao Wang ◽  
Wei Xu ◽  
Bai Chen
Keyword(s):  
Time Delay ◽  
Artificial Bee Colony ◽  
Control Method ◽  
Weight Ratio ◽  
Time Delay Estimation ◽  
Time Delay Control ◽  
Tuning Method ◽  
Model Free ◽  
Bee Colony ◽  
Delay Control

Cable-driven manipulators (CDM) are widely-used for their unique advantages such as light weight, low moving mass, high payload-to-weight ratio, and large reachable workspace. However, their complex dynamic character and low stiffness with flexible joints make the control design much more difficult than for traditional robot manipulators. In this paper, time delay control (TDC), which combines the proportional-integral–derivative (PID) control method and time delay estimation (TDE) technology, will be investigated to build a model-free controller for CDM. PID parameters are reduced dramatically as TDE compensates for a large proportion of unknown dynamics. To handle the problem in tuning parameters of this controller, artificial bee colony (ABC) algorithm is utilized to obtain optimal parameters of PID. Finally, simulations are conducted to verify the effectiveness of the propose controller and the tuning method.

scholarly journals Switched time delay control based on artificial neural network for fault detection and compensation in robot manipulators

2021 ◽  
Vol 3 (4) ◽  
Author(s):  
Dihya Maincer ◽  
Moufid Mansour ◽  
Amar Hamache ◽  
Chemseddine Boudjedir ◽  
Moussaab Bounabi
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Time Delay ◽  
Control Method ◽  
High Gain ◽  
Industrial Applications ◽  
Control Laws ◽  
Time Delay Control ◽  
Delay Control ◽  
Artificial Neural

AbstractThis work proposes a switched time delay control scheme based on neural networks for robots subjected to sensors faults. In this scheme, a multilayer perceptron (MLP) artificial neural network (ANN) is introduced to reproduce the same behavior of a robot in the case of no faults. The reproduction characteristic of the MLPs allows instant detection of any important sensor faults. In order to compensate the effects of these faults on the robot’s behavior, a time delay control (TDC) procedure is presented. The proposed controller is composed of two control laws: The first one contains a small gain applied to the faultless robot, while the second scheme uses a high gain that is applied to the robot subjected to faults. The control method applied to the system is decided based on the ANN detection results which switches from the first control law to the second one in the case where an important fault is detected. Simulations are performed on a SCARA arm manipulator to illustrate the feasibility and effectiveness of the proposed controller. The results demonstrate that the free-model aspect of the proposed controller makes it highly suitable for industrial applications.

A Reduced Order Time-Delay Control for Highly Simplified Brushless DC Motor

1999 ◽  
Vol 121 (3) ◽  
pp. 556-560 ◽  
Author(s):  
Pyung H. Chang ◽  
Suk-Ho Park ◽  
Jung-Hoon Lee
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Dc Motor ◽  
Current Control ◽  
Design Stage ◽  
Brushless Dc Motor ◽  
Reduced Order ◽  
Time Delay Control ◽  
Brushless Dc ◽  
Delay Control

A reduced order time-delay control is derived and applied to the position control of a brushless DC motor with a highly simplified hardware configuration: use of six-step commutation without current control unit. In addition, the closed-loop stability has been analyzed by using the singular perturbation method. Throughout experimental studies, it is observed that reduced order time delay control effectively compensates for parameter variations and non-linearities, which a conventional PID control cannot handle with adequate performances. This result shows that reduced order time-delay control enables an economical design without compromising performance. More importantly, the example establishes a case that: a good control method can compensate for the hardware deficiency in a given plant, and as a result it even enables a simpler design of plants at the design stage.

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