| 摘要 |
A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.
|
