Velocity-Free Adaptive Time Delay Control of Robotic System

<div>Adaptive gain of the gradient (a) <svg height="13.9182pt" id="M267" style="vertical-align:-5.2823pt" version="1.1" viewbox="-0.0498162 -8.6359 25.3026 13.9182" width="25.3026pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.23,3.132)"><path d="M692 302H438V274C537 267 543 260 543 188V103C543 61 531 48 511 37C489 26 458 20 424 20C231 20 146 188 146 333C146 517 258 630 411 630C507 630 582 597 606 474L634 480C627 546 622 601 619 636C586 643 510 665 426 665C230 665 44 552 44 321C44 122 191 -15 411 -15C491 -15 573 7 635 21C629 49 628 81 628 116V202C628 261 632 266 692 274V302Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.736,3.132)"><path d="M517 162C503 123 484 88 467 68C445 42 417 34 341 34C291 34 256 34 237 47C219 59 213 81 213 128V317H308C395 317 402 311 415 240H444V431H415C403 364 398 356 307 356H213V584C213 613 215 616 246 616H322C394 616 421 609 435 587C448 566 458 544 467 502L496 506C493 557 488 625 488 650H42V622C120 616 128 612 128 523V125C128 43 120 35 29 28V0H511C520 31 540 125 546 158L517 162Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,20.949,5.233)"><path d="M394 0V37C301 42 295 50 295 122V635C236 613 178 596 109 583V553L165 551C205 549 209 544 209 495V122C209 50 203 42 111 37V0H394Z"></path></g></svg> and (b) <svg height="13.9182pt" id="M268" style="vertical-align:-5.2823pt" version="1.1" viewbox="-0.0498162 -8.6359 25.3117 13.9182" width="25.3117pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.23,3.132)"><path d="M722 297H451L442 267C561 257 561 253 547 182L531 98C521 44 465 24 390 24C228 24 130 134 130 296C130 482 252 628 465 628C592 628 657 579 656 458L692 461C695 540 699 605 702 631C664 642 590 667 492 667C203 667 24 502 24 285C24 93 170 -17 368 -17C464 -17 543 11 617 28C613 43 612 68 620 106L635 182C649 255 652 258 716 268L722 297Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.29,3.132)"><path d="M615 650H141L132 618C223 612 227 607 212 526L136 123C122 42 112 38 27 32L18 0H522C539 33 580 135 592 166L558 179C536 139 512 100 486 75C454 48 420 41 345 41C287 41 252 42 237 55C221 68 220 100 231 158L261 316H357C455 316 455 309 455 235H489L529 437H494C468 366 460 360 369 360H269L305 565C315 609 316 611 357 611H450C525 611 535 599 548 578C559 556 561 526 560 482L595 486L615 650Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,20.914,5.233)"><path d="M452 139L416 148C386 81 373 77 319 77H141L282 220C372 312 414 373 414 464C414 569 332 635 240 635C181 635 132 609 101 574L42 493L70 467C98 506 143 562 209 562C280 562 324 515 324 435C324 347 261 272 197 197C148 139 89 84 34 29V0H417L452 139Z"></path></g></svg>(proposed control).</div>

Mathematical Problems in Engineering

Velocity-Free Adaptive Time Delay Control of Robotic System

Figure 11