An advanced time-delay controller for robust trajectory control of manipulator in the excavator
- Title
- An advanced time-delay controller for robust trajectory control of manipulator in the excavator
- Authors
- Park, P.; Kim, D.W.
- Date Issued
- 2021-01-22
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Abstract
- An advanced time-delay controller with a hold function is designed. The hold function, which consists of hyperbolic tangent, improves an error convergence by substituting the error to a modified error. Kinematics and dynamics of the 3-link arm are analyzed as the manipulator of the excavator consists of a 3-link arm, which are called boom, arm and bucket. To show the robustness of the advanced time-delay controller, proportional integral derivative controller and adaptive inertia-related controller are designed and compared. The simulations are performed according to the weight of the bucket tip and the trajectory time by using the MATLAB Simulink. © 2021 IEEE.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/109842
- ISSN
- 0000-0000
- Article Type
- Conference
- Citation
- Intelligence, and Robotics, ICA-SYMP 2021, page. 80 - 83, 2021-01-22
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