Skip to the main content

Engineering Review : International journal for publishing of original researches from the aspect of structural analysis, materials and new technologies in the field of mechanical engineering, shipbuilding, fundamental engineering sciences, computer sciences, electrical engin, Vol. 27 No. 2, 2007.

Review article

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

Vesna Krajči ; Faculty of Engineering, University of Rijeka, Rijeka, Croatia
Domagoj Dušević ; Faculty of Engineering, University of Rijeka, Rijeka, Croatia
Mojmil Cecić ; University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, Croatia

Full text: croatian pdf 283 Kb

page 47-58

downloads: 716

cite

Full text: english pdf 283 Kb

page 47-58

downloads: 500

cite

Abstract

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.

Keywords

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

Hrčak ID:

26340

URI

https://hrcak.srce.hr/26340

Publication date:

27.12.2007.

Article data in other languages: croatian

Visits: 1.927 *