An advanced time-delay controller for robust trajectory control of manipulator in the excavator

An advanced time-delay controller with a hold function is designed. The hold function, which consists of hyperbolic tangent, improves an error convergence by substituting the error to a modified error. Kinematics and dynamics of the 3-link arm are analyzed as the manipulator of the excavator consists of a 3-link arm, which are called boom, arm and bucket. To show the robustness of the advanced time-delay controller, proportional integral derivative controller and adaptive inertia-related controller are designed and compared. The simulations are performed according to the weight of the bucket tip and the trajectory time by using the MATLAB Simulink.