Model-free adaptive MIMO control algorithm application in polishing robot

摘要

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.