Title :
Applications of adaptive control to a robotic welder
Author :
Brown, Lyndon J. ; Meyn, Sean P.
Author_Institution :
Comput. & Syst. Res. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
Research on the adaptive control of a nonminimum-phase linear system is described. A class of adaptive control laws which do not require projection of the parameter estimates is proposed. These control laws are based upon 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 is currently being used as a testbed for these theoretical results. Previous observations are described and future work is discussed
Keywords :
adaptive control; control system synthesis; industrial robots; linear systems; welding; model reference adaptive control; nonminimum-phase linear system; robotic welder; Adaptive control; Automatic control; Control systems; Delay; Geometry; Laboratories; Parameter estimation; Robots; Stability; Welding;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269860
