scholarly journals Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique

2020 ◽  
Vol 100 (3) ◽  
pp. 2449-2467 ◽  
Author(s):  
Xin Zhang ◽  
Jinguo Liu ◽  
Qing Gao ◽  
Zhaojie Ju
Keyword(s):  
Time Delay ◽  
Time Delay Estimation ◽  
Decoupling Control ◽  
Delay Estimation ◽  
Estimation Technique ◽  
Space Robots

Examination of the velocity time-delay-estimation technique

2007 ◽  
Vol 363-365 ◽  
pp. 728-732 ◽  
Author(s):  
J.H. Yu ◽  
C. Holland ◽  
G.R. Tynan ◽  
G. Antar ◽  
Z. Yan
Keyword(s):  
Time Delay ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Estimation Technique

Adaptive time delay control for cable-driven manipulators using fuzzy logic algorithm

2020 ◽  
pp. 095965182095916
Author(s):  
Fei Yan ◽  
Yaoyao Wang ◽  
Feng Ju ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Fuzzy Logic ◽  
Time Delay ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Method ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Estimation Technique ◽  
Fuzzy Logic Algorithm ◽  
Adaptive Time

A new adaptive time delay estimation technique with sliding mode control method is proposed and investigated in this passage for cable-driven manipulators. Time delay estimation technique is an effective tool to compensate for unmodeled dynamics and unknown disturbance, and adaptive time delay estimation performs better due to its adaptive control gain. The proposed adaptive method is based on the fuzzy logic algorithm which has a great advantage in input–output mapping thank to its flexibility. Tuning procedure is addressed to reveal the implementation of the newly proposed algorithm. Moreover, the desired trajectory is taken as an input of adaptive algorithm and better control performance is obtained through this attempt. The proposed controller is ultimately uniformly bounded and proof using the Lyapunov method is provided. Finally, comparative experiments show the validity and effectiveness of the proposed controller.

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