Self-Tuning Control for Articulated Robots Using the Plestan’s Method

A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct the articulated robot dynamics exploiting the time-delay estimation (TDE) technique. The closed-loop error dynamics is described with sliding variables and TDE error; then, the Plest...

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Veröffentlicht in:	International journal of precision engineering and manufacturing 2021-04, Vol.22 (4), p.557-566
Hauptverfasser:	Jin, Maolin, Lee, Jinoh, Seo, Kap-Ho, Suh, Jin-Ho
Format:	Artikel
Sprache:	eng
Schlagworte:	Controllers Dynamic stability Engineering Industrial and Production Engineering Materials Science Regular Paper Robot control Robot dynamics Robots Self tuning Sliding mode control
Online-Zugang:	Volltext
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