An Advanced PD Controller for Robot Manipulators with Time-Delay Estimation

Abstract

This paper proposed a Synchronization control scheme based on the the concept of Proportional Derivative (PD) control developed for in conjunction with the time-delay estimation (TDE) control scheme for the closed-kinematic chain manipulator (CKCM). By employing the synchronization technique, PD control and TDE control, the proposed method that ensures the global asymptotic convergence of tracking errors while forcing all active joints to move in a predefined synchronous manner in the presence of uncertainties. The performance of the proposed control is assessed by computer simulation on a 2 degrees-of-freedom (DOF) planar CKCM manipulator and simulation results are presented and discussed.