Robust compensation of jump parameters due to load transitions in robotic systems

The problem of load transitions, one of the most important effects on the performance of control systems for robots carrying payloads, is considered. These transitions are studied, and a compensation method is presented. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed which takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation