DocumentCode
306259
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
Volume
1
fYear
1996
fDate
5-10 Aug 1996
Firstpage
214
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IECON.1996.570955
Filename
570955
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