Title :
Adaptive control of nonminimum phase systems and application to a robotic welder
Author :
Brown, Lyndon J. ; Meyn, Sean P.
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
The authors describe ongoing research on the adaptive control of nonminimum-phase linear systems. They propose a new class of adaptive control laws which avoids projection of parameter estimates by the creation of an auxiliary model. By designing a control law for the auxiliary model, a generalization of model reference adaptive control for the original system is obtained. A robotic welder at the Construction Engineering Research Laboratory in Champaign, Illinois, is currently being used as a testbed for these theoretical results. The recent observations are described and future work is discussed
Keywords :
industrial robots; linear systems; model reference adaptive control systems; welding; adaptive control laws; auxiliary model; linear systems; model reference adaptive control; nonminimum phase systems; robotic welder; Adaptive control; Automatic control; Geometry; Input variables; Laboratories; Linear systems; Optical noise; Optical sensors; Parameter estimation; Programmable control; Robot kinematics; Robots; Testing; Welding;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371509