A new architecture for set-point control of robotic manipulators with time-varying input/output delays

Yen Chen Liu, Nikhil Chopra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper we study the classical set-point control problem for rigid robots when there are time-varying delays in the input-output channels. It has been demonstrated earlier that scattering variables together with additional gains can be utilized to stabilize the closed loop system in the presence of time-varying delays. However, this architecture is not able to guarantee asymptotic regulation to the desired configuration, and the stability depends on the maximum rate of change of the time-varying delays in the communication. Hence, in this paper, we present a new architecture where scattering variables and position feedback are utilized to guarantee stability and asymptotic convergence of the regulation error to the origin while simultaneously relaxing a significant assumption on the rate of change of delays. The proposed algorithm is numerically verified on a two-degree-of-freedom manipulator.

Original languageEnglish
Title of host publicationASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Pages129-136
Number of pages8
DOIs
Publication statusPublished - 2011 Dec 1
EventASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
Duration: 2011 Oct 312011 Nov 2

Publication series

NameASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Volume2

Other

OtherASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
CountryUnited States
CityArlington, VA
Period11-10-3111-11-02

All Science Journal Classification (ASJC) codes

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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