RESEARCH ON TRACKING CONTROL FOR ROBOT MANIPULATOR SUBJECT TO KNOWN TIME-VARYING INPUT DELAY

  • Đinh Thị Thanh Huyền

Abstract

The paper studies on a tracking control method for robot manipulator
subject to a known time-varying input delay and an unknown additive
disturbance. An auxiliary time-delayed signal is defined using the integral of the
measured past control input to compenstate for delay. The proposed controller
includes the compensate signal and a PI term. Lyapunov theorems are used to
prove the mathematic basis of the controller design. The Matlab simulations are
performed to show the effectiveness of the proposed method in a 2-degree of
freedom robot manipulator.
điểm /   đánh giá
Published
2019-09-10
Section
RESEARCH AND DEVELOPMENT