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

Sörnmo, Olof LU ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (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:
author
; ; and
organization
publishing date
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
2153-0858
2153-0866
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
2024-01-21 17:32:45
@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         = {{2153-0858}},
  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}},
}