| Popis: |
A comparative study of conventional versus adaptive Minimal Controller Synthesis (MCS) [Stoten and Benchoubane 1990] controllers applied to a beef deboning robot is presented. Force feedback is used. An adaptive control scheme is considered because of the changing nature of the environment. The results show that although the conventional proportional plus differential (P+D) controller is robust, it is not capable of producing a consistently fast plant response. The MCS controllers, however, adapt well to changes in the environment, producing a consistently rapid plant response |
