Implementation of the Adaptive Control Algorithm for the KUKA LWR 4+ Robot

2018 ◽  
pp. 391-401
Author(s):  
Łukasz Woliński
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Adaptive Control Algorithm

Adaptive Control Algorithm of the RF-537 Controller

1997 ◽  
Vol 30 (7) ◽  
pp. 201-206
Author(s):  
Zbigniew Świder ◽  
Leszek Trybus
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Adaptive Control Algorithm

Online parameter estimation and adaptive control with limited information in structures

2021 ◽  
pp. 107754632110191
Author(s):  
Fereidoun Amini ◽  
Elham Aghabarari
Keyword(s):  
Parameter Estimation ◽  
Adaptive Control ◽  
Least Squares ◽  
Control Algorithm ◽  
Least Squares Method ◽  
Recursive Least Squares ◽  
Limited Information ◽  
Online Identification ◽  
Recursive Least Squares Method ◽  
Adaptive Control Algorithm

An online parameter estimation is important along with the adaptive control, that is, a time-dependent plant. This study uses both online identification and the simple adaptive control algorithm with velocity feedback. The recursive least squares method was used to identify the stiffness and damping parameters of the structure’s stories. Identification was carried out online without initial estimation and only by measuring the structural responses. The limited information regarding sensor measurements, parameter convergence, and the effects of the covariance matrix is examined. The integration of the applied online identification, the appropriate reference model selection in simple adaptive control, and adopting the proportional integral filter was used to limit the structural control response error. Some numerical examples are simulated to verify the ability of the proposed approach. Despite the limited information, the results show that the simultaneous use of online identification with the recursive least squares method and simple adaptive control algorithm improved the overall structural performance.

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