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

Authors

  • Vesna Krajči
  • Domagoj Dušević
  • Mojmil Cecić

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.

Author Biographies

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

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Published

2007-12-15

Issue

Engineering Review Vol 27. No. 2

Section

Articles

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