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Robustness comparison of robotˈs position control systems

Fedor T., Vittek J., Butko P., Vavruš V.

Logistyka

2014

nr 6

3532--3543

This paper describes main disturbances in robot position control system and their influence on PI and SMC control structure. Possibility of linear analytic method for parameters setting of booth techniques was shown. One of the most important features is stability of control system and prediction of dynamic behaviour of position control to avoid mechanical damage of robot mechanical subsystem. Stability of SMC control technique respecting also voltage limitation and variable inertia change problems were shown.