scholarly journals A new fuzzy time-delay control for cable-driven robot

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983501 ◽  
Author(s):  
Surong Jiang ◽  
Yaoyao Wang ◽  
Feng Ju ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Time Delay ◽  
Trajectory Tracking ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Experimental Result ◽  
Tracking Accuracy ◽  
Nonlinear Controller ◽  
Time Delay Control ◽  
Delay Control ◽  
Mean Square Errors

To overcome the problems of structural parametric uncertainty and cable transmission model complexity, a nonlinear controller based on time-delay estimation and fuzzy self-tuning is proposed. The unknown dynamics and disturbances are estimated by time delaying the state of motion immediately before. The control gains are self-tuned by a fuzzy controller, which can reduce the errors caused by system’s uncertainties and external disturbances. Compared with the conventional Proportional-derivative (PD) and time-delay control, the result shows that the proposed control scheme based on time-delay estimation can improve the joint trajectory tracking accuracy of cable-driven robot by significantly reducing the control gains. With the PD gains self-tuned by fuzzy strategy, the mean square errors of trajectory tracking are decreased approximately by 5–20% more than the conventional time-delay control with constant gains. In addition, the experimental result shows that the proposed method has an effective inhibitory effect on dead zone in cable-driven joints. Experiment performed on position tracking control of a 2-degree-of-freedom cable-driven robot is presented to illustrate that the controller has the advantages of simple and reliable structure, model-free, strong robustness, and high tracking accuracy.

scholarly journals 3D Space Trajectory Tracking of Underactuated AUVs using Back-Stepping Control and Time Delay Estimation

2021 ◽  
Vol 54 (16) ◽  
pp. 238-244
Author(s):  
Gun Rae Cho ◽  
Hyungjoo Kang ◽  
Mun-Jik Lee ◽  
Min-Gyu Kim ◽  
Ji-Hong Li
Keyword(s):  
Time Delay ◽  
Trajectory Tracking ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
3D Space ◽  
Back Stepping Control

scholarly journals Velocity-Free Adaptive Time Delay Control of Robotic System

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Shini Chen ◽  
Xia Liu
Keyword(s):  
Time Delay ◽  
Large Time ◽  
Complex Dynamics ◽  
Time Delay Estimation ◽  
Robotic System ◽  
Time Delay Control ◽  
System A ◽  
Delay Control ◽  
Adaptive Time ◽  
The Stability

To improve the trajectory tracking performance of a complex nonlinear robotic system, a velocity-free adaptive time delay control is proposed. First, considering that conventional time delay control (TDC) may cause large time delay estimation (TDE) error under nonlinear friction, a TDC with gradient estimator is designed. Next, since it is complicated and time-consuming to adjust gains manually, an adaptive law is designed to estimate the gain of the gradient. Finally, in order to avoid the measurement of velocity and acceleration in the controller while enabling the robot to implement position tracking, an observer is designed. The proposed control can not only offset the nonlinear terms in the complex dynamics of the robotic system but also reduce the TDE error, estimate the gain of the gradient online, and avoid the measurement of velocity and acceleration. The stability of the system is analyzed via Lyapunov function. Simulations are conducted on a 2-DOF robot to verify the effectiveness of the proposed 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 The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

2003 ◽  
Vol 125 (4) ◽  
pp. 630-638 ◽  
Author(s):  
Sung-Uk Lee ◽  
Pyung Hun Chang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Control Area ◽  
Time Delay Estimation ◽  
Sliding Surface ◽  
Time Delay Control ◽  
Delay Control ◽  
Switching Action ◽  
Integral Sliding Surface ◽  
The Stability

The Time Delay Control with Switching Action (TDCSA) method, which consists of Time Delay Control (TDC) and a switching action of sliding mode control (SMC), has been proposed as a promising technique in the robust control area where the plant has an unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomenon is observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomenon. There are two integral effects in TDCSA. One is the integral effect caused by time delay estimation of TDC. The other is the integral term of an integral sliding surface. To solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experimental results show that the proposed method overcomes the windup problem of the TDCSA.

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