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On the dynamical pulse‐width‐modulation control of robotic manipulator systems
Author(s) -
SiraRamirez Hebertt,
LlanesSantiago Orestes
Publication year - 1996
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199607)6:6<517::aid-rnc151>3.0.co;2-s
Subject(s) - pulse width modulation , control theory (sociology) , robot manipulator , robustness (evolution) , nonlinear system , computer science , control engineering , control (management) , modulation (music) , engineering , physics , artificial intelligence , voltage , biochemistry , chemistry , quantum mechanics , electrical engineering , gene , acoustics
Pulse‐width‐modulation (PWM) feedback strategies have been of limited theoretical interest in the control of nonlinear mechanical systems, such as robotic manipulators. The chattering, associated with an underlying discontinuous control policy, has traditionally been regarded as a serious drawback when compared with existing smooth control alternatives. Paradoxically, experimental robotic setups in laboratories, and industries, often include electronic components which effectively implement PWM control strategies for the actual regulation of drives acting on robotic manipulators. This article examines dynamical PWM control as a means of circumventing the implementation drawbacks of the PWM control strategies and to, possibly, explain the effectiveness of PWM schemes currently used. The approach also retains the classical robustness features associated with the discontinuous control technique.