Adaptive time-delay estimation and control of optimized Stewart robot
F. Tajdari (TU Delft - Materializing Futures)
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Abstract
Aiming at a more efficient and accurate performance of parallel manipulators in the existence of complex kinematics and dynamics, a robust generalizable methodology is proposed here for an integrated 6-DOF Stewart platform with rotary time-delayed actuators torque control. The suggested method employs a time-delay linear–quadratic integral regulator with online artificial neural network gain adjustment. The unknown time-delay is estimated through a novel robust adaptive estimator. The global asymptotic stability of the estimator is proved via a Lyapunov function. The controller is developed in MATLAB software and implemented on the robot designed in ADAMS software to ensure that the real-time tracking error of a nonlinear system with an unknown time-delay is kept to a minimum. The sensitivity of the controller to the parameter choices is studied via implementing the controller in ADAMS software and is validated by investigating the performance on a naturalistic fabricated robot. The approach is assessed using simulation and experimental tests to show the feasibility, optimum, and zero-error convergence of the technique developed.
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