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

B. McAskill, W. Dunford
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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.<>
柔性关节机械臂的自整定极点放置控制
以具有柔性关节的单连杆机械臂为例,研究了自整定极点放置控制方法的应用。可以提供非自适应非线性补偿来解耦线性动力学。该方案采用递归最小二乘算法,对协方差矩阵进行UDU分解。给出了实验结果,并指出了设计和实现中的一些实际问题。
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