Title :
Robust Tracking Under Nonlinear Friction Using Time-Delay Control With Internal Model
Author :
Cho, Gun Rae ; Chang, Pyung Hun ; Park, Sang Hyun ; Jin, Maolin
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
In this paper, the robustness problem in time-delay control (TDC) is considered in the presence of the nonlinear friction dynamics of robot manipulators. As a remedy for this problem, the TDC is enhanced with a compensator based on internal model control (IMC). The robustness and stability of the proposed method have been analyzed to be effective against friction while preserving the positive attributes of the TDC: It is simple, efficient, and easily applicable because it does not require a complete plant model. Through experiments, the proposed method achieves accuracy levels that are 10-20 times better than that of the TDC, thereby confirming its effectiveness under friction.
Keywords :
delays; friction; manipulator dynamics; nonlinear control systems; robust control; compensator; internal model; nonlinear robot manipulator friction dynamics; positive attribute; robust tracking problem; stability; time-delay control; Friction; internal model control (IMC); robot manipulator; robust tracking control; time-delay control (TDC);
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2008.2007650