Title :
Nonlinear control for robots with significant drive nonlinearities
Author :
Taylor, P.M. ; Gilbert, J.M.
Author_Institution :
University of Hull, Hull, England
Abstract :
This paper describes progress being made towards the computer aided design of Variable Structure type controllers for robots which exhibit significant drive nonlinearities. Results are given of the design of such a controller for a single axis, compared with the performance of the existing PID controller, and future research plans are outlined towards multi-axis control.
Keywords :
Control nonlinearities; Paramagnetic resonance; Remotely operated vehicles; Robot control;
Conference_Titel :
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location :
Los Angeles, California, USA
DOI :
10.1109/CDC.1987.272554
