Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control

J. Tar, Janos F. Bito, Okyay M. Kaynak, I. Rudas

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

A tuning method that combines an improved PID/ST adaptivity with the application of a simple uniform structure containing a limited number of tunable parameters is introduced. The parameters are adjusted by a simple version of the adaptive Simplex Algorithm. The method also contains the ancillary tool of a simple version of regression analysis. The proposed method is applicable in controlling robots during certain technological operations, and in the use of artificial passive compliance built in the robot arm.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages831-836
Number of pages6
Volume2
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

Other

OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
CityDetroit, MI, USA
Period5/10/995/15/99

Fingerprint

Robots
Adaptive algorithms
Regression analysis
Tuning
Compliance

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Tar, J., Bito, J. F., Kaynak, O. M., & Rudas, I. (1999). Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 831-836). IEEE.

Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control. / Tar, J.; Bito, Janos F.; Kaynak, Okyay M.; Rudas, I.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. p. 831-836.

Research output: Chapter in Book/Report/Conference proceedingChapter

Tar, J, Bito, JF, Kaynak, OM & Rudas, I 1999, Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 831-836, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, Detroit, MI, USA, 5/10/99.
Tar J, Bito JF, Kaynak OM, Rudas I. Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. IEEE. 1999. p. 831-836
Tar, J. ; Bito, Janos F. ; Kaynak, Okyay M. ; Rudas, I. / Formally non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. pp. 831-836
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