DocumentCode
274744
Title
Discontinuous controller for robot tracking control
Author
Grear, B. ; Cafuta, P. ; Dolinar, D. ; Jezernik, K.
Author_Institution
Maribor Univ., Yugoslavia
fYear
1991
fDate
25-28 Mar 1991
Firstpage
1224
Abstract
A control principle suitable for a robot positioning mechanism is proposed. The basic idea of the control law is to make use of the favorable properties of time optimal and linear controllers. A time optimal controller is used in the range of high deviations with respect to the reference position value by considering the constrained control signal. In this mode of operation only the maximal dynamics is required. In the range of low deviations with respect to the position error signal, the linear servocontroller is activated and the remaining error is eliminated. Due to low signal levels there is no danger that the actuators will exceed the constraint
Keywords
linear systems; optimal control; position control; robots; discontinuous controller; linear controllers; linear servocontroller; robot positioning mechanism; time optimal controller;
fLanguage
English
Publisher
iet
Conference_Titel
Control 1991. Control '91., International Conference on
Conference_Location
Edinburgh
Print_ISBN
0-85296-509-5
Type
conf
Filename
98625
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