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http://dx.doi.org/10.14372/IEMEK.2021.16.6.307

Adaptive Time-delayed Control with Integral Sliding-mode Surface for Fast Convergence Rate of Robot Manipulator  

Baek, Jae-Min (Gangneung-Wonju Nat'l University)
Kang, Min-Seok (Kongju Nat'l University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.16, no.6, 2021 , pp. 307-312 More about this Journal
Abstract
This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.
Keywords
Model-free control; Sliding-mode control; Time-delayed control; Robot manipulator; Lyapunov stability;
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