In this paper the effect of sensor quantization on the control performance of robotics actuators in the steady-state condition is considered. First, the existence of a limit cycle mode due to the limited sensor resolution in the systems with P-controller is shown. Because of the poor transient response of the P-controlled system the extension to the PD-controller is thereafter taken into consideration. A simple solution for limit cycles avoidance in terms of modification of controller structure is provided. The experimental data confirm the theoretical analysis for the robotics actuators.
['Renat Iskakov', 'Alin Albu-Schaeffer', 'Manfred Schedl', 'Gerd Hirzinger', 'V. A. Lopota']
Influence of sensor quantization on the control performance of robotics actuators