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

针对使用Plestan方法的多关节机器人，提出了一种自整定控制器。为此，我们利用时延估计（TDE）技术重建了铰接式机器人动力学。用滑动变量和TDE误差描述了闭环误差动态。然后，将基于Plestan滑模的增益自适应定律与TDE技术结合在一起。Lyapunov证明了整体动力学的稳定性。结果，通过滑动变量实现了增益的自整定。当TDE误差由于诸如摩擦之类的非线性效应而增加时，自适应增益将自动调整以抵消TDE误差。由于基于滑动模式的增益动态不允许增益增加到过高的值，因此可以避免抖动。