{"title":"Model-free adaptive MIMO control algorithm application in polishing robot","authors":"Binbin Gao, Rongmin Cao, Z. Hou, Huixing Zhou","doi":"10.1109/DDCLS.2017.8068058","DOIUrl":null,"url":null,"abstract":"In this paper, the Compact Form Dynamic Linearization based Model-Free Adaptive Control (CFDL-MFAC) algorithm in MIMO (Multiple Input Multiple Output) case is introduced first, then the structure and model of the polishing robot are given and discussed. Next, the CFDL-MFAC in MIMO case is applied to control the polishing robot system. The simulation results show that the CFDL based model-free adaptive control algorithm has a good control performance, especially it can adaptively decouple the coupled outputs for MIMO system.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 6th Data Driven Control and Learning Systems (DDCLS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DDCLS.2017.8068058","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
Abstract
In this paper, the Compact Form Dynamic Linearization based Model-Free Adaptive Control (CFDL-MFAC) algorithm in MIMO (Multiple Input Multiple Output) case is introduced first, then the structure and model of the polishing robot are given and discussed. Next, the CFDL-MFAC in MIMO case is applied to control the polishing robot system. The simulation results show that the CFDL based model-free adaptive control algorithm has a good control performance, especially it can adaptively decouple the coupled outputs for MIMO system.
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