Title :
Adaptation of Dynamic Matrix Control and its Implementation on Welding Robot
Author :
Tipi, A. R Doodman
Author_Institution :
Electr. Dept., R&D Group, K.N. Toosi Univ. of Technol., Tehran
Abstract :
Dynamic matrix control (DMC) has proven to be a powerful tool for control of industrial systems. In this paper, Transfer function [5] and state space representation [10] are used for introduce a new form of DMC transfer function, that includes the smoothing filter coefficient (alpha). Then, adaptation of method is performed for speed control of a welding robot. Finally, by comparison of results with STR and PID algorithms, good characteristics and better disturbance rejection for presented method is shown experimentally.
Keywords :
adaptive control; robot dynamics; robotic welding; transfer function matrices; velocity control; PID algorithms; dynamic matrix control; industrial systems control; smoothing filter coefficient; speed control; state space representation; transfer function; welding robot; Control systems; Electrical equipment industry; Industrial control; Orbital robotics; Robot control; Service robots; Smoothing methods; State-space methods; Transfer functions; Welding; Adaptive control; Dynamic matrix control; Pipeline welding robot;
Conference_Titel :
Mechtronic and Embedded Systems and Applications, 2008. MESA 2008. IEEE/ASME International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2367-5
Electronic_ISBN :
978-1-4244-2368-2
DOI :
10.1109/MESA.2008.4735722
