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Improved time-delay estimation-based control strategy of industrial robotic manipulators based on adaptive estimation of model uncertainty
Published:2024-03-26 author:GAO Shufang, ZHANG Wen, WU Kai. Browse: 1038 Check PDF documents
Improved time-delay estimation-based control strategy of industrial 
robotic manipulators based on adaptive estimation of model uncertainty


GAO Shufang1, ZHANG Wen2, WU Kai3

(1.School of Intelligent Manufacturing, Shanxi Vocational University of Engineering Science and Technology, Jinzhong 030619, China; 

2.College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China; 

3.Hefei General Machinery Research Institute Co.,Ltd., Hefei 230031, China)


Abstract:  Aiming at the problem that the traditional time-delay estimation-based control (TDEC/TDC) method is difficult to effectively balance the control accuracy and the input chattering phenomenon when controlling industrial robot arms. An improved TDEC strategy based on adaptive estimation of model uncertainty was proposed. First, the time delay estimation(TDE)controller was constructed by combining the dynamic model of a multi-degree-of-freedom manipulator. Then, an adaptive estimator for the uncertainty of the manipulator dynamic model was proposed by using the TDE and the corresponding gradient value of the disturbance term. TDEC and sliding mode control was used as auxiliary control strategies and combined with the proposed adaptive estimator to form a complete improved TDEC framework for the manipulator. Further, the stability analysis of the improved TDEC control strategy was carried out based on Lyapunov method. Finally, the superiority of the improved TDEC control method was verified by simulation analysis and experiment. The results show that compared with the traditional TDEC method, the control accuracy of the improved TDEC control strategy can be improved by 62.29%and 45.38% respectively under the loading and unloading conditions. Comparing with the existing adaptive TDEC method, the control accuracy of the improved TDEC strategy can be improved by 23.31% and 36.40% respectively under the loading and unloading conditions. At the same time, by measuring and calculating the square value integral of the control input energy consumption, it is shown that the improved TDEC control method can effectively suppress the input chattering phenomenon on the basis of retaining the advantages of conventional TDEC, and can be effectively combined with the existing adaptive TDEC method for improving the control effect, showing its flexibility.

Key words:  industrial manipulator; control accuracy; input chattering; time-delay estimation-based control(TDEC/TDC); Lyapunov; model-free control; sliding mode control
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