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Cheikh, Imane
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Computer Science & IT Electrical & Electronics Engineering

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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 Faqihi, Hachmia Kabbaj, Mohammed Nabil Omali, Khaoula Oulidi