A model reference observer for time-delay control and its application to robot trajectory control

Author

Chang, Pyung H. ; Lee, Jae W.

Author_Institution

Dept. of Precision Eng. & Mechatronics, Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

Volume

4

Issue

1

fYear

1996

fDate

1/1/1996 12:00:00 AM

Firstpage

2

Lastpage

10

Abstract

This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia variations and external disturbances. The results showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations

Keywords

delay systems; matrix algebra; nonlinear systems; observers; position control; robot dynamics; robust control; SCARA-type robot; external disturbances; inertia variations; model reference observer; nonlinear systems; robot trajectory control; robust control; state estimation; sufficient conditions; time-delay control; Control systems; Design methodology; Noise robustness; Nonlinear control systems; Nonlinear systems; Observers; Robot sensing systems; Robust control; State estimation; Sufficient conditions;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.481761

Filename

481761