| Abstract: | Integral control is important in practice, but in many applications for robot systems this control is unsatisfactory, due to large initial conditions or disturbances. The overshoot becomes large, the speed of response not fast enough, and path tracking is needed. One cure for this problem is the use of the intelligent integral controller, which is very simple in implementation. This control scheme, as part of a PID controller, is applied to a robot system and its superiority, from the conventional one, becomes clear. The main advantage of this controller is that it gives very satisfactory results, while being rather simple. |
