DocumentCode
424986
Title
Variable parameter EW-RLS algorithm with dead zone for the trajectory tracking of the joints of the manipulator
Author
Xue, Yuncan ; Du, Hongbin ; Shao, Huihe
Author_Institution
Dept. of Autom., Shanghai Jiaotong Univ., China
Volume
5
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
4649
Abstract
A variable parameter RLS algorithm with dead zone is presented in this paper. The concept of the error level is proposed. The selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved RLS algorithm.
Keywords
least squares approximations; manipulators; minimax techniques; recursive estimation; self-adjusting systems; three-term control; manipulator joints; min-max principle; self-tuning PID controller; trajectory tracking; variable parameter EW-RLS algorithm;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384044
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