Discontinuous controller for robot tracking control

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