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• W2751880653 abstract "Adaptive gain dynamics for time-delay control (TDC) of robot manipulators is proposed. TDC is a well-known controller for robot manipulators: it is model-free, efficient, and robust. The gain of conventional TDC is a constant matrix, which could pose two drawbacks. First, because the gain is tuned manually by a trial-and-error method, one cannot be convinced whether the gain is well-tuned. Second, when the system dynamics varies rapidly, and the posture of the robot manipulator has changed significantly, the performance of the conventional TDC degrades with a constant gain. To cope with these problems, we propose an adaptive gain dynamics for the TDC by using sliding variables and acceptance layer concept. The time-varying acceptance layer automatically adjusts the gain to minimize the sliding mode error. As a result, the TDC with the proposed adaptive gain dynamics becomes adaptive and robust. The effectiveness of the proposed gain dynamics has been verified experimentally using a whole arm manipulator." @default.
• W2751880653 created "2017-09-15" @default.
• W2751880653 creator A5048683108 @default.
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• W2751880653 date "2017-07-01" @default.
• W2751880653 modified "2023-09-25" @default.
• W2751880653 title "Time-delay control with adaptive gain dynamics for robot manipulators" @default.
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• W2751880653 doi "https://doi.org/10.1109/aim.2017.8014005" @default.
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