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COMPARISON OF DIFFERENT CRITERIONS FOR PARAMETER OPTIMIZATION OF VARIABLE-STRUCTURE ROBOT CONTROLLERS

Vesna Krajči ; Tehnički fakultet Sveučilišta u Rijeci, Rijeka, Hrvatska
Domagoj Dušević ; Tehnički fakultet Sveučilišta u Rijeci, Rijeka, Hrvatska
Mojmil Cecić ; Sveučilište u Splitu, Fakultet elektrotehnike, strojarstva i brodogradnje, Split, Hrvatska


Puni tekst: hrvatski pdf 283 Kb

str. 47-58

preuzimanja: 643

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Puni tekst: engleski pdf 283 Kb

str. 47-58

preuzimanja: 390

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Sažetak

This paper presents different integral optimization criterions with the following integral performance indices: integral of absolute value of error, integral of squared error, integral of time multiplied by absolute value of error, integral of time multiplied by squared error. These integral performance indices are used in simulations for parameters optimization of variable-structure controllers of a three-axis planar articulated robot arm. Optimization of robot controller parameters is performed by computer simulations both in robot joint space and in robot tool-configuration space and better optimization results are achieved in robot tool-configuration space.

Ključne riječi

robot, sliding-mode control, variable-structure control, optimization

Hrčak ID:

26340

URI

https://hrcak.srce.hr/26340

Podaci na drugim jezicima: hrvatski

Posjeta: 1.424 *