{"title":"柔性关节机械臂的自整定极点放置控制","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":"{\"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}","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}
Self-tuning pole placement control of a manipulator with flexible joints
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.<>
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