Self-tuning pole placement control of a manipulator with flexible joints

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.<>