{"title":"一种基于时滞估计的机器人PD控制器","authors":"T. Cam, C. Nguyen, D. Tran","doi":"10.23919/WAC55640.2022.9934368","DOIUrl":null,"url":null,"abstract":"This paper proposed a Synchronization control scheme based on the the concept of Proportional Derivative (PD) control developed for in conjunction with the time-delay estimation (TDE) control scheme for the closed-kinematic chain manipulator (CKCM). By employing the synchronization technique, PD control and TDE control, the proposed method that ensures the global asymptotic convergence of tracking errors while forcing all active joints to move in a predefined synchronous manner in the presence of uncertainties. The performance of the proposed control is assessed by computer simulation on a 2 degrees-of-freedom (DOF) planar CKCM manipulator and simulation results are presented and discussed.","PeriodicalId":339737,"journal":{"name":"2022 World Automation Congress (WAC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"An Advanced PD Controller for Robot Manipulators with Time-Delay Estimation\",\"authors\":\"T. Cam, C. Nguyen, D. Tran\",\"doi\":\"10.23919/WAC55640.2022.9934368\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposed a Synchronization control scheme based on the the concept of Proportional Derivative (PD) control developed for in conjunction with the time-delay estimation (TDE) control scheme for the closed-kinematic chain manipulator (CKCM). By employing the synchronization technique, PD control and TDE control, the proposed method that ensures the global asymptotic convergence of tracking errors while forcing all active joints to move in a predefined synchronous manner in the presence of uncertainties. The performance of the proposed control is assessed by computer simulation on a 2 degrees-of-freedom (DOF) planar CKCM manipulator and simulation results are presented and discussed.\",\"PeriodicalId\":339737,\"journal\":{\"name\":\"2022 World Automation Congress (WAC)\",\"volume\":\"73 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 World Automation Congress (WAC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/WAC55640.2022.9934368\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 World Automation Congress (WAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/WAC55640.2022.9934368","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An Advanced PD Controller for Robot Manipulators with Time-Delay Estimation
This paper proposed a Synchronization control scheme based on the the concept of Proportional Derivative (PD) control developed for in conjunction with the time-delay estimation (TDE) control scheme for the closed-kinematic chain manipulator (CKCM). By employing the synchronization technique, PD control and TDE control, the proposed method that ensures the global asymptotic convergence of tracking errors while forcing all active joints to move in a predefined synchronous manner in the presence of uncertainties. The performance of the proposed control is assessed by computer simulation on a 2 degrees-of-freedom (DOF) planar CKCM manipulator and simulation results are presented and discussed.
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