Stability Guaranteed Time-Delay Control of Manipulators Using Nonlinear Damping and Terminal Sliding Mode

@article{Jin2013StabilityGT,
  title={Stability Guaranteed Time-Delay Control of Manipulators Using Nonlinear Damping and Terminal Sliding Mode},
  author={Yi Jin and Pyung Hun Chang and Maolin Jin and Dae-Gab Gweon},
  journal={IEEE Transactions on Industrial Electronics},
  year={2013},
  volume={60},
  pages={3304-3317}
}
Time-delay control has been verified as a simple and robust controller for robot manipulators. However, time-delay estimation (TDE) error inherently exists and critically affects both the closed-loop stability and control performance. In this paper, we propose a remedy for the TDE error that involves a combination of a nonlinear damping component and a novel fast-convergent error dynamics. Nonlinear damping incorporated with a backstepping design is adopted to counteract TDE error and ensure… CONTINUE READING
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