{"title":"Self-tuning pole placement control of a manipulator with flexible joints","authors":"B. McAskill, W. Dunford","doi":"10.1109/PESC.1988.18166","DOIUrl":null,"url":null,"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.<<ETX>>","PeriodicalId":283605,"journal":{"name":"PESC '88 Record., 19th Annual IEEE Power Electronics Specialists Conference","volume":"90 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"PESC '88 Record., 19th Annual IEEE Power Electronics Specialists Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PESC.1988.18166","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.<>