Title :
Implementation of self-tuning control of a flexible manipulator system
Author :
Ji, Xiao D. ; Familoni, Babajide O.
Author_Institution :
Dept. of Electr. Eng., Memphis State Univ., TN, USA
fDate :
29 June-1 July 1994
Abstract :
A single-link, flexible manipulator system was set up in the laboratory. The recursive least square (RLS) parameter estimation method in time domain and empirical transfer function estimate (ETFE) in frequency domain were used to identify the autoregressive moving average (ARMA) model of the flexible manipulator system. An online time domain RLS identification algorithm combined with an optimization algorithm formed the self-tuning routine. Only endpoint acceleration measurements and motor shaft angle measurements were utilized in the control schemes. Simulation and experimental results show that proportional constant tuning alone was effective in controlling the system.
Keywords :
autoregressive moving average processes; frequency-domain analysis; manipulators; optimisation; parameter estimation; recursive estimation; self-adjusting systems; time-domain analysis; transfer functions; ARMA model; autoregressive moving average; empirical transfer function estimate; endpoint acceleration measurements; flexible manipulator system; frequency domain; identification; motor shaft angle measurements; optimization; parameter estimation; proportional constant tuning; recursive least square; self-tuning control; time domain; Autoregressive processes; Control systems; Frequency domain analysis; Frequency estimation; Laboratories; Least squares approximation; Parameter estimation; Recursive estimation; Resonance light scattering; Transfer functions;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752308
