|Robust Adaptive Control for Robotic Systems With Input Time-Varying Delay Using Hamiltonian Method
|Yong Ren1, Weiwei Sun1,2
|1. Institute of Automation, Qufu Normal University, Qufu 273165, China;
2. School of Engineering, Qufu Normal University, Rizhao 276826, China
|  R. J. Anderson and W. M. Spong, "Bilateral control of teleoperators with time delay, " IEEE Trans. Autom. Control, vol. 34, no. 5, pp. 494-501, May 1989.
 P. H. Chang, D. S. Kim, and K. C. Park, "Robust force/position control of a robot manipulator using time-delay control, " Control Eng. Pract., vol. 3, no. 9, pp. 1255-1264, Sep. 1995.
 Y. Kang, Z. J. Li, X. Q. Cao, and D. H. Zhai, "Robust control of motion/force for robotic manipulators with random time delays, " IEEE Trans. Control Syst. Technol., 2013, vol. 21, no. 5, pp. 1708-1718, Sep. 2013.
 M. Lazarević, "Finite time stability analysis of PDα fractional control of robotic time-delay systems, " Mech. Res. Commun., vol. 33, no. 2, pp. 269-279, Mar.-Apr. 2006.
 Y. C. Liu and N. Chopra, "Control of robotic manipulators under input/output communication delays: theory and experiments, " IEEE Trans. Rob., vol. 28, no. 3, pp. 742-751, Jun. 2012.
 N. Sharma, S. Bhasin, Q. Wang, and W. E. Dixon, "Predictor-based control for an uncertain Euler-Lagrange system with input delay, " Automatica, vol. 47, no. 11, pp. 2332-2342, Nov. 2011.
 Y. N. Yang, C. C. Hua, and X. P. Guan, "Synchronization control for bilateral teleoperation system with prescribed performance under asymmetric time delay, " Nonlinear Dyn., vol. 81, no. 1-2, pp. 481-493, Jul. 2015.
 M. Chen, B. Jiang, and X. R. Cui, "Robust control for rigid robotic manipulators using nonlinear disturbance observer, " Int. J. Rob. Autom., vol. 29, no. 3, pp. 305-311, Jun. 2014.
 Z. P. Jiang and H. Nijmeijer, "Tracking control of mobile robots: a case study in backstepping, " Automatica, vol. 33, no. 7, pp. 1393-1399, Jul. 1997.
 E. Kim, "Output feedback tracking control of robot manipulators with model uncertainty via adaptive fuzzy logic, " IEEE Trans Fuzzy Syst., vol. 12, no. 3, pp. 368-378, Jun. 2004.
 H. R. Koofigar, "Adaptive tracking with external force disturbance rejection for uncertain robotic systems, " Int. J. Control Autom. Syst., vol. 12, no. 1, pp. 169-176, Feb. 2014.
 R. Ortega and W. M. Spong, "Adaptive motion control of rigid robots: a tutorial, " Automatica, vol. 25, no. 6, pp. 877-888, Nov. 1989.
 M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control. New York, USA: Wiley, 2005.
 G. W. Zeng and A. Hemami, "An overview of robot force control, " Robotica, vol. 15, no. 5, 473-482, Sep. 1997.
 R. Akmeliawati and Y. M. I. Mareels, "Nonlinear energy-based control method for aircraft automatic landing systems, " IEEE Trans. Control Syst. Technol., vol. 18, no. 4, pp. 871-884, Jul. 2010.
 W. W. Sun and B. Z. Fu, "Adaptive control of time-varying uncertain nonlinear systems with input delay: a Hamiltonian approach, " IET Control Theo. & Appl., vol. 10, no. 15, pp. 1844-1858, Oct. 2016.
 I. Fantoni, R. Lozano, and M. W. Spong, "Energy based control of the pendubot, " IEEE Trans. Autom. Control, vol. 45, no. 4, pp. 725-729, Apr. 2000.
 S. S. Ge, T. H. Lee, and G. Zhu, "Energy-based robust controller design for multi-link flexible robots, " Mechatronics, vol. 6, no. 7, pp. 779-798, Oct. 1996.
 R. Ortega, W. M. Spong, F. Gomez-Estern, and G. Blankenstein, "Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment, " IEEE Trans. Autom. Control, vol. 47, no. 8, pp. 1218-1233, Aug. 2002.
 X. Xin and T. Yamasaki, "Energy-based swing-up control for a remotely driven acrobot: theoretical and experimental results, " IEEE Trans. Control Syst. Technol., vol. 20, no. 4, pp. 1048-1056, Jul. 2012.
 B. M. Maschke and A. J. van der Schaft, "Port-controlled Hamiltonian systems: modelling origins and system theoretic properties, " in Proc. 2nd IFAC Symp. Nonlinear Control Systems Design, Bordeaux, France, 1992, pp. 282-288.
 W. W. Sun, "Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation, " Appl. Math. Comput., vol. 217, no. 23, pp. 9625-9634, Aug. 2011.
 W. W. Sun and L. H. Peng, "Observer-based robust adaptive control for uncertain stochastic Hamiltonian systems with state and input delays, " Nonlinear Anal. Modell. Control, vol. 19, no. 4, pp. 626-645, Aug. 2014.
 Y. Z. Wang and S. S. Ge, "Augmented Hamiltonian formulation and energy-based control design of uncertain mechanical systems, " IEEE Trans. Control Syst. Technol., vol. 16, no. 2, pp. 202-213, Mar. 2008.
 R. Ortega, A. Loría, P. J. Nicklasson, and H. Sira-RamÍrez, Passivity-Based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications. London, UK: Springer-Verlag, 1998.
 L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators, London, UK: Springe, 2000.
 K. Gu, V. L. Kharitonov, and J. Chen, Stability of Time-Delay Systems. Media, New York, USA: Springer, 2003.
 S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan, Linear Matrix Inequalities in System and Control Theory, Philadelphia, USA: Society for Industrial and Applied Mathematics, 1994.
 Z. J. Li, X. Q. Cao, and N. Ding, "Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays, " IEEE Trans. Fuzzy Syst., vol. 19, no. 4, pp. 745-757, Aug. 2011.
 S. Islam, P. X. Liu, and A. El Saddik, "Nonlinear adaptive control for teleoperation systems with symmetrical and unsymmetrical time-varying delay, " Int. J. Syst. Sci., vol. 46, no. 16, pp. 2928-2938, Dec. 2015.
 Y. He, M. Wu, J. H. She, and G. P. Liu, "Parameter-dependent Lyapunov functional for stability of time-delay systems with polytopic-type uncertainties, " IEEE Trans. Autom. Control, vol. 49, no. 5, pp. 828-832, May 2004.
 D. Yue and Q.-L. Han, "Delay-dependent exponential stability of stochastic systems with time-varying delay, nonlinearity, and Markovian switching, " IEEE Trans. Autom. Control, vol. 50, no. 2, pp. 217-222, Feb. 2005.
 W. W. Sun and L. H. Peng, "Robust adaptive control of uncertain stochastic Hamiltonian systems with time varying delay, " Asian J. Control, vol. 18, no. 2, pp. 642-651, Feb. 2016.
 Y. Ren, W. W. Sun, and B. Z. Fu, Energy-based L2-disturbance attenuation control for robot manipulator with uncertainties and input delay. Br. J. Math. Comput. Sci., vol. 4, no. 17, 2403-2417, Sep. 2014.
 S. S. Ge and C. J. Harris, Adaptive Neural Network Control of Robotic Manipulators. River Edge, NJ, USA: World Scientific Publishing Co., Inc., 1998.