Robust indirect adaptive control combined with frequency domain methods and its application to robot

Takashi Shigemasa, Shuichi Adachi, Junji Oaki

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

The authors propose combining indirect adaptive control, which has wide applications, with frequency-domain methods and show the scheme's application to a robot. In order to identity the wide-frequency response of a controlled system from the input-output data accurately, a multiple recursive identification method, combined with the decimation technique, is presented. The control parameters of a two-degrees-of-freedom PID control system are determined by using the model matching method in the cutoff frequency region on the basis of the identified frequency response. Adaptive control based on frequency-domain methods can be widely applied to controlled systems, including not only minimum-phase systems but also non-minimum phase systems, even at the fast sampling rate. The superior features of the adaptive control scheme are summarized and its effectiveness is shown through experiments using an industrial robot.

Original languageEnglish
Pages (from-to)2183-2184
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
DOIs
Publication statusPublished - 1990
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: 1990 Dec 51990 Dec 7

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Robust indirect adaptive control combined with frequency domain methods and its application to robot'. Together they form a unique fingerprint.

  • Cite this