Self-Tuning Control for Articulated Robots Using the Plestan’s Method

A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct dynamics exploiting time-delay estimation (TDE) technique. The closed-loop error described with sliding variables and TDE error; then, mode based gain-adaptation law incorporated stability of overall proven in sense Lyapunov. As a result, gain realized through variable. When increases due to nonlinear effect such as friction, adaptive automatically adjusted counteract error. Chattering can be avoided because does not allow increase excessively high value. superiority demonstrated by comparative experiments on multiple joints setup.