Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation
(2013) IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 p.4893-4899- Abstract
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3955022
- author
- Sörnmo, Olof LU ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2013
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
- pages
- 7 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
- conference location
- Tokyo, Japan
- conference dates
- 2013-11-03 - 2013-11-08
- external identifiers
-
- wos:000331367404143
- scopus:84893811003
- ISSN
- 2153-0866
- 2153-0858
- project
- RobotLab LTH
- SMErobotics
- language
- English
- LU publication?
- yes
- id
- ffc063c4-1e7a-47d9-8979-a1b271f1ed06 (old id 3955022)
- date added to LUP
- 2016-04-01 10:34:37
- date last changed
- 2024-10-07 08:28:15
@inproceedings{ffc063c4-1e7a-47d9-8979-a1b271f1ed06, abstract = {{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.}}, author = {{Sörnmo, Olof and Olofsson, Björn and Robertsson, Anders and Johansson, Rolf}}, booktitle = {{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}}, issn = {{2153-0866}}, language = {{eng}}, pages = {{4893--4899}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation}}, url = {{https://lup.lub.lu.se/search/files/1961728/3955023.pdf}}, year = {{2013}}, }