A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach
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Summary: This paper addresses a new robust control scheme for tracking control of the robot manipulators. This algorithm employs time delay estimation (TDE) technique in combination with backstepping control strategy. The suggested control scheme has no dependency on the robot dynamic model and knowing the bound of the inertia matrix is enough to develop this controller. To develop the idea, at first the boundedness of the TDE errors is analyzed by Lyapunov‐Krasovskii approach. Next, the proposed TDE based adaptive backstepping nonsingular terminal sliding mode control (ABNTSMC) algorithm is developed. In this way, a novel adaptive‐robust term is employed to defeat the chattering phenomenon. Moreover, the closed‐loop stability of the system is proven through Lyapunov second approach. Fast transient response, supreme robustness, and chattering‐free as the premier specifications are gained employing the proposed control algorithm. The efficiency of the suggested control scheme is illustrated through some simulations on an industrial robot and the results are compared with some other control algorithms. Finally, the practical effectiveness of the proposed TDE based control algorithm is verified through some experiments on a parallelogram robot manipulator.
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Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include PID, adaptive sliding mode controller (SMC), and fuzzy logic approach-based control methods.
“Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include, for example, the PID controller [18], adaptive sliding mode controller (SMC) [19], and fuzzy logic approach-based [20] control methods.”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [19]
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- Authors
- Taefi, M., & Khosravi, M. A.
- Affiliations
- Amirkabir University of Technology (IR)
- Corresponding author
- Khosravi, Mohammad A.
- Venue
- International Journal of Robust and Nonlinear Control
- Publisher
- Wiley
- Published
- 2024-04-17
- Volume
- 34
- Issue
- 12
- Pages
- 8227-8247
- ISSN
- 1049-8923 (ISSN-L)
- 1099-1239
- OpenAlex
- W4394880932
- Cited by
- 13
- References
- 34
- Citations by year
- 2026: 4 · 2025: 5 · 2024: 4
- FWCI
- 2.04
- Type
- journal article
- Language
- en
- Open access
- bronze
- doi.org
- Locations
- International Journal of Robust and Nonlinear Control (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Keywords
- robot manipulator control, time delay estimation, robust adaptive control, backstepping control, nonsingular terminal sliding mode control, chattering reduction, Lyapunov-Krasovskii stability, model-free control, trajectory tracking
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