The paper presents a new approach for the hybrid position/force control of a manipulator by using self-tuning regulators (STR). For this purpose, the discrete-time stochastic multi-inputmulti-output (MIMO) and single...
详细信息
The paper presents a new approach for the hybrid position/force control of a manipulator by using self-tuning regulators (STR). For this purpose, the discrete-time stochastic multi-inputmulti-output (MIMO) and single-input single-output (SISO) models are introduced. The MIMO model whose output vector has the positions and velocities of the gripper expressed in the world (xyz) coordinate system as the components. The SISO model outputs are the hybrid errors consisting of the derivatives of the position and force errors at the joints. The inputs of both models are the joint torques. The unknown parameters of those models can be calculated recursively on-line by the square-root estimation algorithm (SQR). An adaptive MIMO and SISO self-tuning type controllers are then designed by minimizing the expected value of a quadratic criterion. This performance index penalizes the deviations of the actual position and force path of the gripper from the desired values expressed in the Cartesian coordinate system. An integrating effect is also included in the performance index to remove the steady-state errors. Digital simulation results using the parameter estimation and the control algorithms are presented and the performances of those two controllers are discussed
A self-tuning power system stabilizer using a recursive least-squares identification algorithm with varying forgetting factor and self-searching pole-shift control algorithm has been developed. Application of this con...
详细信息
A self-tuning power system stabilizer using a recursive least-squares identification algorithm with varying forgetting factor and self-searching pole-shift control algorithm has been developed. Application of this controller to a multi-inputmulti-output system for a generating unit-field excitation and governor control, and in the form of a dual-rate control strategy to further improve the properties of the stabilizer for fast acting systems, is described in this paper. Results of studies demonstrate the effectiveness of the proposed controller.
This work addresses the application of numerical opti- mization technique to the pole-placement problem in multiva- riable optimal control. An algorithm is developed to select a set of weighting matrix element such th...
详细信息
This work addresses the application of numerical opti- mization technique to the pole-placement problem in multiva- riable optimal control. An algorithm is developed to select a set of weighting matrix element such that the conventional transient response criteria are satisfied. General properties of the optimal system in terms of stablity, robustness and relative weights between state and control variables were explored by applying the method to the design of two mult ivariable systems. Results indicated that this method provides good insight to the problem for the designer and is therefore a useful tool in multi- variable control synthesis.
暂无评论