Open AccessNew time delay estimation-based virtual decomposition control for n-DoF robot manipulator
Author(s) -
Hachmia Faqihi,
Khalid Benjelloun,
Maarouf Saad,
Mohammed Benbrahim,
Mohammed Nabil Kabbaj
Publication year - 2021
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v10i3.pp192-206
Subject(s) - decoupling (probability) , control theory (sociology) , controller (irrigation) , robot , parallel manipulator , decomposition , dynamic equation , computer science , stability (learning theory) , lyapunov function , control engineering , engineering , control (management) , artificial intelligence , nonlinear system , ecology , agronomy , physics , quantum mechanics , machine learning , biology
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.