Title :
Adaptive lattice estimation and control of a manipulator with one flexible forearm
Author :
Yang, Y.P. ; Huang, K.-M.
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
fDate :
5/1/1992 12:00:00 AM
Abstract :
An application of recursive covariance lattice algorithms to the adaptive estimation and control of a manipulator with one flexible link is presented. These algorithms are a set of pure order recursive lattice equations, which can in principle identify the effective order and the corresponding parameters of an ARMA prediction model of the manipulator. The reduced-order prediction model represents the significant dynamics of the plant, and is used to generate control sequences by minimising a weighted performance index. In the simulations, the manipulator is modelled by the finite element method and Langrange´s equations. The performance and robustness of the lattice filter and the adaptive controller is demonstrated by numerical results.
Keywords :
adaptive control; filtering and prediction theory; finite element analysis; parameter estimation; performance index; robots; ARMA prediction model; Langrange´s equations; adaptive control; adaptive estimation; finite element method; flexible forearm; manipulator; parameter estimation; pure order recursive lattice equations; recursive covariance lattice algorithms; reduced-order prediction model; robots; robustness; weighted performance index;
Journal_Title :
Control Theory and Applications, IEE Proceedings D