Robustness of a Few Control Methods Used in Robotics

• Published in: IFAC Proceedings Volumes Vol. 33; no. 13; pp. 601 - 606
• Main Authors: Krajčí, Vesna, Jurišica, Ladislav
• Format: Journal Article
• Language: English
• 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

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...