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

页码：818 / 827

页数：10

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