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.
|ジャーナル||Proceedings of the IEEE Conference on Decision and Control|
|出版ステータス||Published - 1990|
|イベント||Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA|
継続期間: 1990 12月 5 → 1990 12月 7
ASJC Scopus subject areas