By Topic

Model adaptive hybrid dynamic control for constrained motion systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
B. J. McCarragher ; Dept. of Eng., Australian Nat. Univ., Canberra, ACT, Australia ; D. J. Austin

A new task-level adaptive controller is presented for the hybrid dynamic control of constrained motion systems. Using a hybrid dynamic model of the process, velocity constraints are derived from which satisfactory velocity commands are obtained. Due to modeling errors and parametric uncertainties, the velocity commands may be erroneous and may result in suboptimal performance. A task-level adaptive control scheme, based on the occurrence of discrete events, is used to change the model parameters from which the velocity commands are determined. Automated control of an assembly task is given as an example, and simulations and experiments for this task are presented. These results demonstrate the applicability of the method and also indicate properties for rapid convergence

Published in:

IEEE Transactions on Automatic Control  (Volume:43 ,  Issue: 4 )