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
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;
Conference_Titel :
Power Electronics Specialists Conference, 1988. PESC '88 Record., 19th Annual IEEE
Conference_Location :
Kyoto, Japan
DOI :
10.1109/PESC.1988.18166
