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Robust Adaptive Control of Robotic Manipulator with Input Timevarying Delay

Saim Ahmed, Haoping Wang*, Muhammad Shamrooz Aslam, Imran Ghous, and Irfan Qaisar
International Journal of Control, Automation, and Systems, vol. 17, no. 9, pp.2193-2202, 2019

Abstract : "This paper presents H∞ adaptive tracking control of uncertain robotic manipulator with unknown external disturbances and input time-varying delays. The new adaptive scheme is proposed for trajectory tracking, while H∞ performance is used to attenuate the effect of external disturbances. Firstly, a delay-dependent sufficient condition with input delay and the proposed adaptive controller are developed for the uncertain robotic manipulator, such that the resulting closed-loop system is robustly asymptotically stable. Secondly, a sufficient condition for the H∞ disturbance attenuation performance of the closed-loop system is derived, consequently, the system is robustly asymptotically stable. In the end, two examples are presented to verify the effectiveness of the proposed method."

Keyword : Adaptive tracking control, H∞ analysis, robotic manipulator, time varying delay.

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