Proposal of modified model reference adaptive control for high-speed robots

Author

Aoki, Tatsu

Author_Institution

Dept. of Electr. Eng., Tokyo Metropolitan Coll. of Technol., Japan

Volume

3

fYear

2003

fDate

16-20 July 2003

Firstpage

1288

Abstract

It is required to adapt to the change of the dynamic characteristics in real-time so that robotics systems can achieve high-speed and high-accuracy motion. In the model reference adaptive control schemes (MRAC), a model with short time-constant must be chosen to realize fast response. However, it takes a long time to adapt to the model. Thus, a new approach for MRAC was proposed. In order to improve the transient behavior, the main idea of the new algorithm is the introduction of the state feedback to the model, and the availability was verified on the first-order systems. In this paper, the proposed methodology is extended to the second-order systems. Simulations show that the efficiency of this proposed method was verified.

Keywords

model reference adaptive control systems; robot dynamics; state feedback; transient response; adjustable transient response; feedback control loop; first-order systems; high-speed robots; model reference adaptive control; second-order systems; state feedback; transient behavior; Adaptive control; Delay; Educational institutions; Feedback control; Programmable control; Proposals; Real time systems; Robots; Transfer functions; Transient response;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222182

Filename

1222182