Application of simplified adaptive control to position control of a 3-axis robot

Author

Shibata, H. ; Maruoka, G. ; Sung, Y.

Author_Institution

Dept. of Electron., Osaka Prefectural Univ., Sakai, Japan

Volume

4

fYear

1993

fDate

19-21 Oct. 1993

Firstpage

86

Abstract

This paper examines the applicability of simplified adaptive control (SAC) technique to an actual system, that is, position control of a 3-axis robot, and verifies that experimental results illustrate satisfactory control performance. In the algorithm, a feedforward gain is proposed to be inserted in parallel to a reference model as well as to the controlled system in order to decrease steady-state error, and this proposition is theoretically analyzed. In the experiments, control performances are compared between the SAC and a conventional PID control. The comparison shows superiority of the SAC.<>

Keywords

MIMO systems; adaptive control; feedforward; position control; robots; three-term control; 3-axis robot; PID control; control performance; control performances; feedforward gain; position control; simplified adaptive control; steady-state error; Adaptive control; Control system synthesis; Control systems; MIMO; Nonlinear control systems; Position control; Programmable control; Robots; Steady-state; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on

Conference_Location

Beijing, China

Print_ISBN

0-7803-1233-3

Type

conf

DOI

10.1109/TENCON.1993.320440

Filename

320440