scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

scholarly journals Practical Tracking Control of Piezoelectric Actuators with Time-delay Estimation and Nonsingular Terminal Sliding Mode

2020 ◽  
Author(s):  
Hai-Ping Lin ◽  
Han-Lie Gu ◽  
Shengdong Yu ◽  
Jin-Yu Ma ◽  
Hong-Tao Wu
Keyword(s):  
Time Delay ◽  
Control Strategy ◽  
Sliding Mode ◽  
Engineering Application ◽  
Piezoelectric Actuators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Unknown Boundary ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

Abstract A novel type of nonlinear robust control strategy is proposed in view of uncertain nonlinear factors, such as hysteresis, creep, and high-frequency vibration, of piezoelectric actuators (PEAs). This strategy can be used for the precise trajectory tracking of PEAs. The Bouc–Wen dynamic model is reasonably simplified to facilitate engineering application. The hysteresis term is summarized as an unknown term to avoid its nonlinear parameter identification. The controller robustness is achieved due to the nonsingular terminal sliding mode control, and the online estimation of unknown disturbances is realized because of the delay estimation technology; thus, no prior knowledge of the unknown boundary of the system is required. The precision robust differentiator is used to estimate the speed and acceleration signals in real time on the basis of the obtained displacement signals. The closed-loop stability of the system is proved by the Lyapunov criterion. Experimental results show that the proposed control strategy performs better than the traditional time-delay estimation control in terms of control accuracy and energy conservation. Therefore, the proposed control strategy can play an important role in the micro/nanofield driven by PEAs.

scholarly journals A Secure Control Design for Networked Control Systems with Linear Dynamics under a Time-Delay Switch Attack

Electronics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 322
Author(s):  
Mauro Victorio ◽  
Arman Sargolzaei ◽  
Mohammad Reza Khalghani
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Real Time ◽  
Control Strategy ◽  
Large Scale ◽  
Networked Control Systems ◽  
Lyapunov Theory ◽  
Networked Control ◽  
Secure Control ◽  
The Stability

Networked control systems (NCSs) are designed to control and monitor large-scale and complex systems remotely. The communication connectivity in an NCS allows agents to quickly communicate with each other to respond to abrupt changes in the system quickly, thus reducing complexity and increasing efficiency. Despite all these advantages, NCSs are vulnerable to cyberattacks. Injecting cyberattacks, such as a time-delay switch (TDS) attack, into communication channels has the potential to make NCSs inefficient or even unstable. This paper presents a Lyapunov-based approach to detecting and estimating TDS attacks in real time. A secure control strategy is designed to mitigate the effects of TDS attacks in real time. The stability of the secure control system is investigated using the Lyapunov theory. The proposed TDS attack estimator’s performance and secure control strategy are evaluated in simulations and a hardware-in-the-loop environment.

Active fault-tolerant control of a Schon̈flies parallel manipulator based on time delay estimation

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Pegah Ghaf-Ghanbari ◽  
Mahmood Mazare ◽  
Mostafa Taghizadeh
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
Parallel Manipulator ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Fault Estimation

Abstract In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schönflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

scholarly journals Practical tracking control of piezoelectric actuators with time-delay estimation and nonsingular terminal sliding mode

2022 ◽  
Vol 355 ◽  
pp. 03062
Author(s):  
Haiping Lin ◽  
Hanlie Gu ◽  
Jinyu Ma ◽  
Shengdong Yu
Keyword(s):  
Time Delay ◽  
Control Strategy ◽  
Sliding Mode ◽  
Engineering Application ◽  
Piezoelectric Actuators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Unknown Boundary ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

A novel type of nonlinear robust control strategy is proposed in view of uncertain nonlinear factors, such as hysteresis, creep, and high-frequency vibration, of piezoelectric actuators (PEAs). This strategy can be used for the precise trajectory tracking of PEAs. The Bouc–Wen dynamic model is reasonably simplified to facilitate engineering application. The hysteresis term is summarized as an unknown term to avoid its nonlinear parameter identification. The controller robustness is achieved due to the nonsingular terminal sliding mode control, and the online estimation of unknown disturbances is realized because of the delay estimation technology; thus, no prior knowledge of the unknown boundary of the system is required. The precision robust differentiator is used to estimate the speed and acceleration signals in real time on the basis of the obtained displacement signals. The closed-loop stability of the system is proved by the Lyapunov criterion. Experimental results show that the proposed control strategy performs better than the traditional time-delay estimation control in terms of control accuracy and energy conservation. Therefore, the proposed control strategy can play an important role in the micro/nanofield driven by PEAs.

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