New Time Delay estimation-based Virtual Decomposition Control for n-DoF robot manipulator

Hachmia Faqihi, Khalid Benjelloun, Maarouf Saad, Mohammed Benbrahim, M. Nabil Kabbaj


One of the most efficient approaches to control a multiple degree-of freedom robot manipulator is the Virtual Decomposition Control (VDC). However, the use of the regressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the Time Delay Estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the combination of regressor technique, and TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory.
The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and compared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed Virtual Decomposition Time Delay Control (VDTDC) approach.



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