Robust point-to-point control with velocity limitation

Abstract

In this contribution, the original modification of a special kind of robust point-to-point (fixed target) motion control with the intentional limitation of maximal velocity is presented. Theoretical background of the provided control algorithm is given by the variable structure control theory yielding the fast and accurate time sub-optimal control. This ensures the desired quality and integrity of the motion control despite the presence of significant parametric and signal disturbances. Simulation results show the reliability of the presented control method.