Robustness analysis of a paradigm for non-linear robot controllers based on soft computing techniques

I. J. Rudas, O. Kaynak, J. F. Bito, J. K. Tar

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Exact mathematical modelling and identification-based control of coupled non-linear MIMO systems still remained complicated and clumsy. VLSI technology also makes it possible to realize robust control based on 'soft computing techniques' requiring only rough models but resulting in limited control quality with noisy fluctuations. The motion of quite simple mechanical systems as rigid bodies also may show chaotic behavior. Numerical techniques as finite-element methods in realization may act as additional source of chaotic fluctuations. In this paper the relation between approximate modelling, robustness and chaotic nature of the controlled system is investigated via simulation. On this basis certain general rules are concluded regarding the operation of such controllers.

Original languageEnglish
Pages1633-1638
Number of pages6
Publication statusPublished - Dec 1 1994
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: Sep 5 1994Sep 9 1994

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period9/5/949/9/94

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Rudas, I. J., Kaynak, O., Bito, J. F., & Tar, J. K. (1994). Robustness analysis of a paradigm for non-linear robot controllers based on soft computing techniques. 1633-1638. Paper presented at Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .