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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA)
Faqihi, Hachmia
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Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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New time delay estimation-based virtual decomposition control for n-DoF robot manipulator Faqihi, Hachmia; Benjelloun, Khalid; Saad, Maarouf; Benbrahim, Mohammed; Kabbaj, M. Nabil
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp192-206

Abstract

One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.
Virtual decomposition with time delay control for underactuated robot manipulator Cheikh, Imane; Omali, Khaoula Oulidi; Faqihi, Hachmia; Benbrahim, Mohammed; Kabbaj, Mohammed Nabil
International Journal of Electrical and Computer Engineering (IJECE) Vol 16, No 2: April 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v16i2.pp791-805

Abstract

The importance of controlling robot manipulators is undeniable. However, faults in these systems can significantly impact the workspace environment and personal safety. To address these challenges, a new adaptive approach has been proposed that easily adapts to a faulty actuator while precisely tracking its desired position. The virtual decomposition control (VDC) method decomposes the robot into subsystems, each with its sub-controller, while ensuring the overall system remains stable. Meanwhile, time delay estimation (TDE) is used to estimate unknown and uncertain parameters. A co-simulation was conducted to test the TD-VDC method on a 6 DoFs robot, which becomes underactuated during its running. The results of the root main square error of the proposed controller were lower of 6% than those of sliding mode control based on partial feedback linearization control (SMC-PFLC), which proves the proposal's effectiveness and efficiency.
Co-Authors Benbrahim, Mohammed Benjelloun, Khalid Cheikh, Imane Kabbaj, M. Nabil Kabbaj, Mohammed Nabil Omali, Khaoula Oulidi Saad, Maarouf