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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

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Full text: english pdf 283 Kb

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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

Article data in other languages: croatian

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