Virtual decomposition with time delay control for underactuated robot manipulator.
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| Title: | Virtual decomposition with time delay control for underactuated robot manipulator. |
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| Authors: | Cheikh, Imane1 imane.cheikh@usmba.ac.ma, Omali, Khaoula Oulidi2 khaoula.oulidi@ensias.um5.ac.ma, Faqihi, Hachmia3 hachmia.faqihi@uit.ac.ma, Benbrahim, Mohammed1 mohammed.benbrahim@usmba.ac.ma, Kabbaj, Mohammed Nabil1 n.kabbai@usmba.ac.ma |
| Source: | International Journal of Electrical & Computer Engineering (2088-8708). Apr2026, Vol. 16 Issue 2, p791-805. 15p. |
| Subjects: | Time delay estimation, Manipulators (Machinery), Sliding mode control, Adaptive control systems, Robot control systems, Fault-tolerant control systems |
| 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. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Electrical & Computer Engineering (2088-8708) is the property of Institute of Advanced Engineering & Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 192718345 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Virtual decomposition with time delay control for underactuated robot manipulator. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Cheikh%2C+Imane%22">Cheikh, Imane</searchLink><relatesTo>1</relatesTo><i> imane.cheikh@usmba.ac.ma</i><br /><searchLink fieldCode="AR" term="%22Omali%2C+Khaoula+Oulidi%22">Omali, Khaoula Oulidi</searchLink><relatesTo>2</relatesTo><i> khaoula.oulidi@ensias.um5.ac.ma</i><br /><searchLink fieldCode="AR" term="%22Faqihi%2C+Hachmia%22">Faqihi, Hachmia</searchLink><relatesTo>3</relatesTo><i> hachmia.faqihi@uit.ac.ma</i><br /><searchLink fieldCode="AR" term="%22Benbrahim%2C+Mohammed%22">Benbrahim, Mohammed</searchLink><relatesTo>1</relatesTo><i> mohammed.benbrahim@usmba.ac.ma</i><br /><searchLink fieldCode="AR" term="%22Kabbaj%2C+Mohammed+Nabil%22">Kabbaj, Mohammed Nabil</searchLink><relatesTo>1</relatesTo><i> n.kabbai@usmba.ac.ma</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Electrical+%26+Computer+Engineering+%282088-8708%29%22">International Journal of Electrical & Computer Engineering (2088-8708)</searchLink>. Apr2026, Vol. 16 Issue 2, p791-805. 15p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Time+delay+estimation%22">Time delay estimation</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Fault-tolerant+control+systems%22">Fault-tolerant control systems</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Electrical & Computer Engineering (2088-8708) is the property of Institute of Advanced Engineering & Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.11591/ijece.v16i2.pp791-805 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 15 StartPage: 791 Subjects: – SubjectFull: Time delay estimation Type: general – SubjectFull: Manipulators (Machinery) Type: general – SubjectFull: Sliding mode control Type: general – SubjectFull: Adaptive control systems Type: general – SubjectFull: Robot control systems Type: general – SubjectFull: Fault-tolerant control systems Type: general Titles: – TitleFull: Virtual decomposition with time delay control for underactuated robot manipulator. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Cheikh, Imane – PersonEntity: Name: NameFull: Omali, Khaoula Oulidi – PersonEntity: Name: NameFull: Faqihi, Hachmia – PersonEntity: Name: NameFull: Benbrahim, Mohammed – PersonEntity: Name: NameFull: Kabbaj, Mohammed Nabil IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 04 Text: Apr2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 20888708 Numbering: – Type: volume Value: 16 – Type: issue Value: 2 Titles: – TitleFull: International Journal of Electrical & Computer Engineering (2088-8708) Type: main |
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