Robust Tracking Under Nonlinear Friction Using Time-Delay Control With Internal Model
Abstract
In this paper, the robustness problem in time-delay control (TDC) is considered in the presence of the nonlinear friction dynamics of robot manipulators. As a remedy for this problem, the TDC is enhanced with a compensator based on internal model control (IMC). The robustness and stability of the proposed method have been analyzed to be effective against friction while preserving the positive attributes of the TDC: It is simple, efficient, and easily applicable because it does not require a complete plant model. Through experiments, the proposed method achieves accuracy levels that are 10–20 times better than that of the TDC, thereby confirming its effectiveness under friction.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
The proposed IMPC is designed by tuning the TDE parameter ̄g without any information about the plant dynamics.
“Following the aforementioned procedures, the proposed IMPC is designed by tuning the TDE parameter ¯ g without any information about the plant dynamics.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [55]
Cites
A new model for control of systems with friction
de Wit, C. C., Olsson, H., Åström, K. J., & Lischinsky, P. (1995) · IEEE Transactions on Automatic Control · doi:10.1109/9.376053 · Cited by 3,692 · see citing works
VIRK, G. S. (1990) · Chemical Engineering Science · doi:10.1016/0009-2509(90)85041-b · Cited by 3,219 · see citing works
Armstrong-Hélouvry, B., Dupont, P. E., & de Wit, C. C. (1994) · Automatica · doi:10.1016/0005-1098(94)90209-7 · Cited by 2,683 · see citing works
Morari, M., & Zafiriou, E. (1988) · International Linear Collider · Cited by 2,664 · see citing works
Internal model control. A unifying review and some new results
García, C. E., & Morari, M. (1982) · Industrial & Engineering Chemistry Process Design and Development · doi:10.1021/i200017a016 · Cited by 1,536 · see citing works
A Time Delay Controller for Systems With Unknown Dynamics
Youcef‐Toumi, K., & Ito, O. (1990) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.2894130 · Cited by 666 · see citing works
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Jung, S., Hsia, T. C., & Bonitz, R. G. (2004) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2004.824320 · Cited by 479 · see citing works
Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers
Hsia, T. C., & Gao, L. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1990.126310 · Cited by 285 · see citing works
Robust independent joint controller design for industrial robot manipulators
Hsia, T. C., Lasky, T. A., & Guo, Z. (1991) · IEEE Transactions on Industrial Electronics · doi:10.1109/41.103479 · Cited by 241 · see citing works
Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation
Jin, M., Kang, S. H., & Chang, P. H. (2008) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2007.906132 · Cited by 235 · see citing works
Self-citationInput/Output Linearization Using Time Delay Control
Youcef‐Toumi, K., & Wu, S.-T. (1992) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.2896491 · Cited by 201 · see citing works
Friction compensation for an industrial hydraulic robot
Lischinsky, P., de Wit, C. C., & Morel, G. (1999) · IEEE Control Systems · doi:10.1109/37.745763 · Cited by 198 · see citing works
Friction: experimental determination, modeling and compensation
Armstrong, B. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1988.12266 · Cited by 177 · see citing works
A friction compensator for pneumatic control valves
Hägglund, T. J. (2002) · Journal of Process Control · doi:10.1016/s0959-1524(02)00015-x · Cited by 158 · see citing works
A straight-line motion tracking control of hydraulic excavator system
Chang, P. H., & Lee, S.-J. (2002) · Mechatronics · doi:10.1016/s0957-4158(01)00014-9 · Cited by 121 · see citing works
Self-citationControl of a heavy-duty robotic excavator using time delay control with integral sliding surface
Lee, S., & Chang, P. H. (2002) · Control Engineering Practice · doi:10.1016/s0967-0661(02)00027-8 · Cited by 105 · see citing works
Self-citationOn improving time-delay control under certain hard nonlinearities
Chang, P. H., & Park, S. H. (2003) · Mechatronics · doi:10.1016/s0957-4158(01)00046-0 · Cited by 79 · see citing works
Self-citationPark, J.-Y., & Chang, P. (2003) · Control Engineering Practice · doi:10.1016/j.conengprac.2003.09.005 · Cited by 65 · see citing works
Self-citationRapid Prototyping of a Model-Based Control With Friction Compensation for a Direct-Drive Robot
Bona, B., Indri, M., & Smaldone, N. (2006) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2006.882989 · Cited by 63 · see citing works
Robust force/position control of a robot manipulator using time-delay control
Chang, P. H., Kim, D. S., & Park, K. C. (1995) · Control Engineering Practice · doi:10.1016/0967-0661(95)00124-d · Cited by 59 · see citing works
Self-citationTask scheduling with feedback latency for real-time control systems
Kim, B. K. (2002) · International Conference on Real-Time Computing Systems and Applications (RTCSA) · doi:10.1109/rtcsa.1998.726349 · Cited by 32 · see citing works
Experimental evaluation of an augmented IMC for nonlinear systems
Hu, Q., Saha, P., & Rangaiah, G. P. (2000) · Control Engineering Practice · doi:10.1016/s0967-0661(00)00041-1 · Cited by 26 · see citing works
Nonlinear tracking and input disturbance rejection with application to pH control
Graebe, S. F., Seron, M. M., & Goodwin, G. C. (1996) · Journal of Process Control · doi:10.1016/0959-1524(96)86054-9 · Cited by 21 · see citing works
Internal model structure in the control of robot manipulators
Li, Q., POO, A. N., & Lim, C. M. (1996) · Mechatronics · doi:10.1016/0957-4158(95)00089-5 · Cited by 21 · see citing works
Time-Delay Sliding Mode Control for a Servo
Park, J. H., & Kim, Y. M. (1999) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.2802434 · Cited by 18 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
Taefi, M., & Khosravi, M. A. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7379 · Cited by 13 · see citing works
- Authors
- Cho, G. R., Chang, P. H., Park, S. H., & Jin, M.
- Affiliations
- Korea Advanced Institute of Science and Technology (KR)
- Research Institute of Industrial Science and Technology (KR)
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2009-11
- Volume
- 17
- Issue
- 6
- Pages
- 1406-1414
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- OpenAlex
- W2113706371
- Cited by
- 89
- References
- 25
- Citations by year
- 2026: 1 · 2025: 7 · 2024: 3 · 2023: 7 · 2022: 4 · 2021: 3 · 2020: 7 · 2019: 11 · 2018: 7 · 2017: 10 · 2016: 7 · 2015: 3 · 2014: 4 · 2013: 3 · 2012: 5
- FWCI
- 6.68
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Control Systems Technology (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 › Iterative Learning Control Systems
- Keywords
- time delay control, internal model control, nonlinear friction, robot manipulators, robust tracking, friction compensation, stability analysis, model-free control
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
