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

Takashi Shigemasa, Shuichi Adachi, Junji Oaki

研究成果: Conference article査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)2183-2184
ページ数2
ジャーナルProceedings of the IEEE Conference on Decision and Control
4
DOI
出版ステータスPublished - 1990
外部発表はい
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 51990 12月 7

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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