Indirect adaptive learning of acceleration feedback control for chained multiple mass-spring-damper systems

被引：0
|
作者：
Dieulot, J. Y. [1 ]
Colas, F. [1 ]
Barre, P. J. [1 ]
Borne, P. [2 ]
机构：
[1] ENSAM, Technol Res Team, 8 Bd Louis 14, F-59000 Lille, France
[2] Ecole Cent Lille, UMR 8146, LAGIS, F-59615 Villeneuve, France
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
iterative learning control; flexible arms; path planning for manipulators; calibration and identification;
D O I：
10.1109/ROBOT.2007.363840
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An indirect Iterative Learning algorithm has able to update the parameters of an acceleration feedback controller for flexible manipulators. The fine estimation of the masses of a chain of mass-spring-dampers units allows the simultaneous tuning of both the feedback controller and the trajectory generation. This algorithm has been validated on an industrial robot arm.
引用
收藏
页码：2495 / +
页数：2
相关论文
共 50 条
  • [21] Adaptive output feedback control for uncertain nonholonomic chained systems
    Zhan-ping Yuan
    Zhu-ping Wang
    Qi-jun Chen
    Journal of Central South University of Technology, 2010, 17 : 572 - 579
  • [22] Comparing Closed Loop Control Models and Mass-Spring-Damper Models for Human Structure Interaction Problems
    Ortiz-Lasprilla, Albert R.
    Caicedo, Juan M.
    DYNAMICS OF CIVIL STRUCTURES, VOL 2, 2015, : 67 - 74
  • [23] Longitudinal motion control for vehicle platooning in mixed traffic based on virtual mass-spring-damper theory
    Jiang, Luo
    Ji, Jie
    Ren, Yue
    Wang, Hong
    INTERNATIONAL JOURNAL OF VEHICLE DESIGN, 2020, 83 (2-4) : 195 - 217
  • [24] Adaptive output feedback control for nonholonomic systems with uncertain chained form
    Wu, Yuqiang
    Ju, Guiling
    Zheng, Xiuyun
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2010, 41 (12) : 1537 - 1547
  • [25] Multi-Frequency Harmonic Vibration Suppression on Mass-Spring-Damper Systems Using Active Vibration Absorbers
    Beltran-Carbajal, F.
    Silva-Navarro, G.
    Vazquez-Gonzalez, B.
    JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES, 2016, 4 (01) : 1 - 12
  • [26] MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration
    Abas, Mohammad Fadhil Bin
    Ali, Syaril Azrad Md.
    Iwakura, Daisuke
    Song, Yuze
    Nonami, Kenzo
    JOURNAL OF ROBOTICS AND MECHATRONICS, 2013, 25 (01) : 240 - 251
  • [27] Experimental Investigation of An Active Mass Damper with Acceleration Feedback Sliding Mode Control
    Huang, Shieh-Kung
    Lai, Yong-An
    Chang, Chia-Ming
    Yang, Cho-Yen
    Loh, Chin-Hsiung
    SENSORS AND SMART STRUCTURES TECHNOLOGIES FOR CIVIL, MECHANICAL, AND AEROSPACE SYSTEMS 2020, 2020, 11379
  • [28] Tracking Control with Zero Steady-state Error for the Discrete-time Mass-Spring-Damper System
    Feng, Likang
    Zhang, Weihai
    2019 3RD IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2019), 2019, : 233 - 238
  • [29] State and output feedback stabilization of multiple chained systems with discontinuous control
    Astolfi, A
    Schaufelberger, W
    PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 1443 - 1448
  • [30] State and output feedback stabilization of multiple chained systems with discontinuous control
    Dept. of Elec. and Electron. Eng., Imperial College, London SW7 2BT, United Kingdom
    不详
    Syst Control Lett, 1 (49-56):
12345