https://scholars.lib.ntu.edu.tw/handle/123456789/297258
標題: | Adaptive lattice estimation and control of a manipulator with one flexible forearm | 作者: | Yang, Yee-Pien Huang, Kuo-Ming Yang, Y.-P. Huang, K.-M. YEE-PIEN YANG |
公開日期: | 1992 | 卷: | 139 | 期: | 3 | 起(迄)頁: | 237-244 | 來源出版物: | IEE Proceedings D: Control Theory and Applications | 摘要: | 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 Lagrange's equations. The performance and robustness of the lattice filter and the adaptive controller is demonstrated by numerical results. |
URI: | http://www.scopus.com/inward/record.url?eid=2-s2.0-0026868374&partnerID=MN8TOARS http://scholars.lib.ntu.edu.tw/handle/123456789/297258 https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026868374&doi=10.1049%2fip-d.1992.0031&partnerID=40&md5=0fddefe8dfc4cb655d607c7e7b232a35 |
ISSN: | 01437054 | SDG/關鍵字: | Control Systems, Adaptive - Performance; Control Systems, Adaptive - Robot Applications; Control Systems, Adaptive - Robustness; Mathematical Techniques - Algorithms; Mathematical Techniques - Finite Element Method; Lagrange's Equations; Lattice Equations; Lattice Filters; Plant Dynamics; System Uncertainties; Vector Channel; Control systems, Adaptive |
顯示於: | 機械工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。