Robust Trajectory Control of Robot Manipulators Using Time Delay Estimation and Internal Model Concept

摘要

This paper proposes an enhanced controller, using Time Delay Estimation(TDE) and Internal Model Control(IMC) concept for robot manipulators. The proposed controller has a compensator based on IMC to improve robustness of Time Delay Control (TDC) against friction; it is effective enough to handle bad effect of friction, moreover, simple and efficient as to match positive attribute of TDC. The controller with TDE, does not need whole model of plants, thus, it is easily applicable. The analysis and experimental results show the effectiveness of the proposed controller against the friction effects of the robot manipulators.