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

Jozsef K. Tar, Janos F. Bito, Okyay M. Kaynak, Imre J. Rudas

Research output: Conference article

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
Pages (from-to)831-836
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - jan. 1 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: máj. 10 1999máj. 15 1999

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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