Virtual decomposition with time delay control for underactuated robot manipulator.

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Bibliographic Details
Title:	Virtual decomposition with time delay control for underactuated robot manipulator.
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]
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Database:	Engineering Source

Description
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]
ISSN:	20888708
DOI:	10.11591/ijece.v16i2.pp791-805