A VARIABLE-ORDER ADAPTIVE CONTROLLER FOR A MANIPULATOR WITH A SLIDING FLEXIBLE LINK

被引：11
|
作者：
KIM, YK [1 ]
GIBSON, JS [1 ]
机构：
[1] UNIV CALIF LOS ANGELES,DEPT MECH AEROSP & NUCL ENGN,LOS ANGELES,CA 90024
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 06期
关键词：
D O I：
10.1109/70.105390
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A digital adaptive controller for a robotic manipulator with a sliding flexible link is presented. The most important feature of the controller is its capability to vary the order of the control law adaptively. This capability results from using a lattice filter for adaptive parameter estimation. The superiority of the variable-order adaptive controller to a fixed-order adaptive controller is demonstrated by numerical simulations in which the manipulator is represented by the nonlinear equations of motion for a finite-element model of the manipulator.
引用
收藏
页码：818 / 827
页数：10
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