Robustness of a Few Control Methods Used in Robotics

作     者：Vesna Krajčí Ladislav Jurišica 

作者机构：Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovakia Phone: 00421 7 60 291 599 Phone: 00421 760291351 Fax: 00421 765429521 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2000年第33卷第13期

页      面：601-606页

主　　题：robotics robustness variable-structure control robust control fuzzy control robot arm computer simulation 

摘      要：The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path control methods is evaluated in the case of planar articulated robot moving along two common used trajectories: straight-line and circular. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness of all presented robot control methods.