DELICATE CONTROL VERSUS ROBUST CONTROL
Keywords:
delicacy, robust control, adaptive control, reconfigurable systems, fault toleranceAbstract
This paper focuses on the need for a multifunction control to be used in robot systems and automation. First it refers to fine motion in the dexterous space and introduces delicate control, then discusses robustness and adaptive control to be used for coarse motion in the work space. Coordination between multiple controllers and scheduling between tasks were considered, and a reconfigurable structure was suggested. Finally it is concluded that a dual control structure with a concurrent elevator scheduling algorithm is sufficiently efficient for a wide range of applications.References
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