This paper applies the discrete-time single-input/single-output Model Reference Adaptive Control (MRAC) design technique of Landau and Lozano to the problem of regulating feed force on a lathe under varying cutting conditions. A first-order model is used to represent the relationship between feed force and the control input (feedrate). The MRAC scheme is implemented on a multi-microprocessor based computer-numerical-control system. Results of applying various algorithms derived from the MRAC design technique are presented.
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The results of this work serve as a step towards automation o f the operation of an LHLI-loader. In this study the force requirement in the (hydraulic) actuators and the vehicle push are found in terms of the external force/torque at the cutting edge that the machine must overcome, and the instantaneous wnfipration of the loader bucket. me study D based on ana@& of the motion as in a robot manipulator., .
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