Self-tuning pole placement control of a manipulator with flexible joints

TitleSelf-tuning pole placement control of a manipulator with flexible joints
Publication TypeConference Paper
Year of Publication1988
AuthorsMcAskill, B., and W. G. Dunford
Conference NamePower Electronics Specialists Conference, 1988. PESC '88 Record., 19th Annual IEEE
Pagination445 -451 vol.1
Date Publishedapr.
Keywordsadaptive control, covariance matrix, design, distributed parameter systems, flexible joint, linear dynamics, manipulator, nonadaptive nonlinear compensation, poles and zeros, recursive least-squares algorithm, robots, self-adjusting systems, self-tuning pole placement control, UDU factorization

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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