IMPROVEMENT OF ROBOT TRAJECTORY TRACKING BY USING NONLINEAR CONTROL METHODS
AbstractThis paper presents the following nonlinear control methods: fuzzy control and different variations on variable-structure control with a sliding mode. These control methods are used in simulations for improvement of trajectory tracking for the three-axis planar articulated robot arm. The quality of robot trajectory tracking is tested in simulations with robot parameter change, complex external disturbances and measurement noise. The simulation results proved robustness of all presented nonlinear methods for robot control.
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