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

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Author

Summary, in English

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.

Publishing year

2013

Language

English

Pages

4893-4899

Publication/Series

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Conference date

2013-11-03 - 2013-11-08

Conference place

Tokyo, Japan

Status

Published

Project

  • RobotLab LTH
  • SMErobotics

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 2153-0866
  • ISSN: 2153-0858