Computer aided design of multivariable technological systems by G G Leininger; International Federation of Automatic

By G G Leininger; International Federation of Automatic Control. Committee on Systems Engineering.; IFAC Education Committee

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Additional info for Computer aided design of multivariable technological systems : proceedings of the second IFAC symposium, West Lafayette, Indiana, USA, 15-17 September 1982

Sample text

The method reference control perspective limited to stable systems which and (3) by Koivo [ 4 ] using a minimum variance self-tuner based on the work are minimum phase. This requirement is satisified in general if the mani­ of Clarke [14] . Hierarchical control pulator is well-planned approaches have been discussed by that thepath dynamics , as seen at such each Saridis [15] and Vukobratovic [16 ] . joint, are essentially inertia hybrid control concept was proposed quantities within well defined ranges .

No. 2, Feb. 1978, pp. 101-109 Kahm, M. E. Control , "The of Near-Minimum-Time Open-Loop Articulated Kine­ matic Chain,Syst. " Trans. Control Dynamic , Vol . 93, pp. 164-172 , Sept. 1971. Optimal N. , "Approximation Theory Control Trainable Manipulators, " for IEEECybernetics Trans. on Systems, Man,, and , Vol. SMC-9 No. 3 , March 1979 , pp. 152-159 . Freund, E. , "Fast Nonlinear Control PlacementWith forArbitrary IndustrialPole­ Robots and Manipulators, " The Int. J . o f Robotics Research, Vol .

By Raibert [17] . area Twoare excellent tu­ The extended MV self-tuning method torials in this available requires trial and error ad­ from Luh [18] and Saridis [19 ] . jparameters ustments some inbefore performance dependent With Dubowsky are and is determined. Seea final [20 , 21]solution for Koivo,thetheexception control of techniques details . For the examPle considered bound to the dynamic nonlinear equa­ in [ 4 ] the results suggest that mini­ tions of motion. In most cases the mum variancecontrol self-tuning concept for equations must be computed on-line manipulator may be a poor in real time using either actual choice dynamic response measurements or synthesized informa­ if accurate This conclusion is is desired.

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