Title :
Optimisation of robot position control using variable structure controllers and adaptive switching lines
Author :
Gardner, Stephen
Author_Institution :
Dept. of Electron. & Inf. Technol., Polytech. of Wales, Pontypridd, UK
Abstract :
DC servomechanisms are widely used as actuators in industry and are generally required to have the conflicting requirements of high accuracy, fast speed of response and no overshoot. These requirements are obviously necessary in robot position control, but classical control theory results in a compromise. The author outlines a control strategy that would meet all the previously stated requirements and also to maintain a high degree of consistency in the face of disturbance parameters when implemented on a robot system
Keywords :
optimal control; position control; robots; variable structure systems; adaptive switching lines; degree of consistency; disturbance parameters; optimal control; robot position control; variable structure controllers;
Conference_Titel :
Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on
Conference_Location :
London
