柔性双连杆系统联合控制实验研究

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI:10.1115/imece2001/dsc-24508

Wenwei Xu, Xiaoping Zhang, S. Nair

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引用次数: 0

摘要

实验研究了存在系统不确定性时考虑关节角度控制的柔性双连杆系统的自适应控制设计。将系统不确定性视为状态的未知有界连续函数，并使用高斯网络对不确定性进行映射。实验结果表明了所提出的学习控制策略的有效性。

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Experimental Joint Control Studies With a Flexible Two-Link System

This paper investigates experimentally an adaptive control design for a flexible two-link system considering joint angle control in the presence of system uncertainties. The system uncertainties are treated as unknown bounded continuous functions of the states and a Gaussian network is used to map the uncertainties. Experiment results show the effectiveness of the proposed learning control strategy.

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Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference

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