On the dynamical pulse-width-modulation control of robotic manipulator systems

摘要

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.