Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation

Olof Sörnmo, Björn Olofsson, Anders Robertsson, Rolf Johansson

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Sammanfattning

This paper considers the problem of performing mid-ranging control of two closed-loop controlled systems that have internal saturations. The problem originates from previous work in machining with industrial robots, where an external compensation mechanism is used to compensate for position errors. Because of the limited workspace and the considerably higher bandwidth of the compensator, a mid-ranging control approach is proposed. An adaptive, model-based solution is presented, which is verified through simulations and experiments, where a close correspondence of the obtained results is achieved. Comparing the IAE of experiments using the proposed controller to previously established methods, a performance increase of up to 56 % is obtained.
Originalspråkengelska
Titel på värdpublikation2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor4893-4899
Antal sidor7
StatusPublished - 2013
EvenemangIEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 - Tokyo, Tokyo, Japan
Varaktighet: 2013 nov. 32013 nov. 8

Publikationsserier

Namn
ISSN (tryckt)2153-0858
ISSN (elektroniskt)2153-0866

Konferens

KonferensIEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Land/TerritoriumJapan
OrtTokyo
Period2013/11/032013/11/08

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