DocumentCode
282278
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
fYear
1989
fDate
32819
Firstpage
42522
Lastpage
42525
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;
fLanguage
English
Publisher
iet
Conference_Titel
Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
198943
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