Robustness of a Few Control Methods Used in Robotics

The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path co...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 33; no. 13; pp. 601 - 606
Main Authors Krajčí, Vesna, Jurišica, Ladislav
Format Journal Article
LanguageEnglish
Published 01.06.2000
Subjects
computer simulation
fuzzy control
robot arm
robotics
robust control
robustness
variable-structure control
fuzzy control
variable-structure control
robotics
robustness
robust control
computer simulation
robot arm
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Summary:The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path control methods is evaluated in the case of planar articulated robot moving along two common used trajectories: straight-line and circular. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness of all presented robot control methods.
ISSN:1474-6670
DOI:10.1016/S1474-6670(17)37257-9