Time Delay Control(TDC) is simple and robust nonlinear control scheme using Time Delay Estimation(TDE). To apply TDC to real system, it needs to design TDC satisfying both stability and good control performance. Until now, however, only necessary condition for stability has been suggested, and practical design methodology has not been studied for complex nonlinear system like robot manipulator.
This paper is proposed to suggest practical TDC design methodology in digital implementation for robot manipulator. Sampling rate, speed of error dynamics, and injected gain matrix based on inertia matrix are design factors influencing both stability and performance. Firstly to design TDC satisfying stability, we derive sufficient condition by stability analysis using input-output stability. The condition is described as relation of 3 design factors. Secondly we suggest design methodology, in order to improve control performance. In the part of control performance, injected gain matrix is most important fact, so we manage it mainly. We propose the methodology how to determine its form and value, and how to use inertia matrix as injected gain matrix in real time control. Through simulation and experiment for industrial robot manipulator, the proposed stability condition and design methodology are verified.
