Performance comparison of different control algorithms for robot manipulators

Žilić, Tihomir and Kasać, Josip and Essert, Mario and Novaković, Branko and Šitum, Željko (2012) Performance comparison of different control algorithms for robot manipulators. = Performance comparison of different control algorithms for robot manipulators. Strojarstvo, 54 (5). pp. 399-407. ISSN 0562-1887. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. . Točan broj autora: 5.

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Abstract

In this work are compared performances of five different robot control algorithms. The following controllers under consideration are: PD controller, PID controller, analytical fuzzy controller, classical adaptive controller and adaptive controller based on neural network. The mentioned controllers are used to control two different robot configurations with two rotational degrees of freedom (in horizontal and vertical plane). The basic performances for control algorithms comparisons are: tracking error, rate of convergence, robustness on structural changes of control object, complexity of stability criterion and complexity of implementation.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Uncontrolled Keywords:	upravljanje robotom, adaptivno upravljanje, neuronske mreže, neizrazito upravljanje, performanse regulacije
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	No
Indexed in Current Contents:	No
Date Deposited:	20 Sep 2016 07:08
Last Modified:	22 Oct 2018 11:41
URI:	http://repozitorij.fsb.hr/id/eprint/6429

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