Title :
Adaptive switching control method and its application to tracking control of a robot
Author :
Zhou, Chaojun ; Ogata, Kazuya ; Fujii, Shohei
Author_Institution :
Fac. of Eng., Nagoya Univ., Japan
Abstract :
In this paper, the authors develop an adaptive switching control method for servo systems with large structured parameter uncertainty by using a supervisor. Two design methods of the supervisor with small switching interval are investigated. Several experimental results of tracking control of a SCARA-type robot with unknown payload are given to show the effectiveness of the proposed method
Keywords :
adaptive control; control system synthesis; robots; servomechanisms; switching; tracking; uncertain systems; SCARA-type robot; adaptive switching control method; control design; control simulation; design methods; robot tracking control; servo systems; structured parameter uncertainty; supervisor; switching interval; unknown payload; Adaptive control; Control systems; Erbium; Optimal control; Payloads; Programmable control; Robot control; Servosystems; State-space methods; Uncertainty;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570955
