Pole assignment self-tuning controller for robotic manipulators
- 1 October 1987
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 46 (4) , 1307-1317
- https://doi.org/10.1080/00207178708933970
Abstract
This paper presents an effective adaptive controller for robotic manipulators. A perturbation difference model of the manipulator is established for the first time, based on which a modified pole assignment self-tuning control algorithm is developed. The controller is designed such that the variance of a generalized cost function is minimized and the controller parameters are estimated directly. Closed-loop pole assignment is achieved by adjusting on-line the weighting factors in the cost function. Simulations to a manipulator with three degrees of freedom are given to demonstrate the effectiveness of this self-tuning controller.Keywords
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