Pregled bibliografske jedinice broj: 1045621
Low Energy Adjustment of VSC Parameters Along the Complex Robot Trajectory
Low Energy Adjustment of VSC Parameters Along the Complex Robot Trajectory // Selected Topics in Modelling and Control, Volume 3 / Mikleš, Ján ; Veselý, Vojtech (ur.).
Bratislava: Slovak University of Technology Press, 2002. str. 99-103
CROSBI ID: 1045621 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Low Energy Adjustment of VSC Parameters Along the Complex Robot Trajectory
Autori
Krajči, Vesna ; Jurišica, Ladislav
Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni
Knjiga
Selected Topics in Modelling and Control, Volume 3
Urednik/ci
Mikleš, Ján ; Veselý, Vojtech
Izdavač
Slovak University of Technology Press
Grad
Bratislava
Godina
2002
Raspon stranica
99-103
ISBN
80-227-1815-7
Ključne riječi
variable-structure control, robot, energy, simulation
Sažetak
Parameters of a simple variable-structure controller with sign function are adjusted according to the desired maximum trajectory tracking error and minimum of energy. It is shown by computer simulations that this VSC method needs a lot of energy because of chattering. Therefore, the sign function is replaced with saturation function and two different continuous functions, all of them with a very thin boundary layer. Parameters of the modified variable-structure controllers are adjusted according to these principles: desired tracking error, no chattering and minimum of energy. The results show triple reducing of energy in the cases of using the modified variable-structure control methods.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
