In this paper we study the classical set-point control problem for rigid robots when there are time-varying delays in the input-output channels. It has been demonstrated earlier that scattering variables together with additional gains can be utilized to stabilize the closed loop system in the presence of time-varying delays. However, this architecture is not able to guarantee asymptotic regulation to the desired configuration, and the stability depends on the maximum rate of change of the time-varying delays in the communication. Hence, in this paper, we present a new architecture where scattering variables and position feedback are utilized to guarantee stability and asymptotic convergence of the regulation error to the origin while simultaneously relaxing a significant assumption on the rate of change of delays. The proposed algorithm is numerically verified on a two-degree-of-freedom manipulator.
- Dynamic Systems and Control Division
A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays
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Liu, Y, & Chopra, N. "A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 129-136. ASME. https://doi.org/10.1115/DSCC2011-6188
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