DocumentCode
2859302
Title
Self-tuning pole placement control of a manipulator with flexible joints
Author
McAskill, Brian ; Dunford, William G.
Author_Institution
British Columbia Univ., Vancouver, BC, Canada
fYear
1988
fDate
11-14 April 1988
Firstpage
445
Abstract
A case study of the application of self-tuning pole placement control to a single-link manipulator with a flexible joint is presented. Nonadaptive nonlinear compensation may be provided to decouple the linear dynamics. The scheme was implemented using the recursive least-squares algorithm with UDU factorization of the covariance matrix. Experimental results are presented and some practical issues concerning design and implementation are noted.<>
Keywords
adaptive control; distributed parameter systems; poles and zeros; robots; self-adjusting systems; UDU factorization; covariance matrix; design; flexible joint; linear dynamics; manipulator; nonadaptive nonlinear compensation; recursive least-squares algorithm; self-tuning pole placement control; Actuators; Adaptive control; Autoregressive processes; Gears; Manipulator dynamics; Optical feedback; Robots; Shafts; Sliding mode control; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics Specialists Conference, 1988. PESC '88 Record., 19th Annual IEEE
Conference_Location
Kyoto, Japan
Type
conf
DOI
10.1109/PESC.1988.18166
Filename
18166
Link To Document