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

Takashi Shigemasa, Shuichi Adachi, Junji Oaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2183-2184
Number of pages2
Volume4
Publication statusPublished - 1990
Externally publishedYes
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: 1990 Dec 51990 Dec 7

Other

OtherProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)
CityHonolulu, HI, USA
Period90/12/590/12/7

Fingerprint

Robots
Frequency response
Industrial robots
Three term control systems
Cutoff frequency
Sampling
Control systems
Experiments

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Shigemasa, T., Adachi, S., & Oaki, J. (1990). Robust indirect adaptive control combined with frequency domain methods and its application to robot. In Proceedings of the IEEE Conference on Decision and Control (Vol. 4, pp. 2183-2184). Publ by IEEE.

Robust indirect adaptive control combined with frequency domain methods and its application to robot. / Shigemasa, Takashi; Adachi, Shuichi; Oaki, Junji.

Proceedings of the IEEE Conference on Decision and Control. Vol. 4 Publ by IEEE, 1990. p. 2183-2184.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shigemasa, T, Adachi, S & Oaki, J 1990, Robust indirect adaptive control combined with frequency domain methods and its application to robot. in Proceedings of the IEEE Conference on Decision and Control. vol. 4, Publ by IEEE, pp. 2183-2184, Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6), Honolulu, HI, USA, 90/12/5.
Shigemasa T, Adachi S, Oaki J. Robust indirect adaptive control combined with frequency domain methods and its application to robot. In Proceedings of the IEEE Conference on Decision and Control. Vol. 4. Publ by IEEE. 1990. p. 2183-2184
Shigemasa, Takashi ; Adachi, Shuichi ; Oaki, Junji. / Robust indirect adaptive control combined with frequency domain methods and its application to robot. Proceedings of the IEEE Conference on Decision and Control. Vol. 4 Publ by IEEE, 1990. pp. 2183-2184
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