Tip position control of a flexible one-arm robot with predictive adaptive output feedback implemented with lattice filter parameter identifier

DOI10.1016/0045-7949(90)90281-6MaRDI QIDQ3201868zbMATH OpenOpenAlexFDO

Authors Sabri Cetinkunt, Sijun Wu

Publication date 1990

Published in Computers & Structures (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0045-7949(90)90281-6

zbMATH Keywords

actuatorsopen loop systemreal-time parameter estimationlattice filter structurenon-colocated sensorsnon-minimum phase naturepotential instability problemsPrecision high bandwidth tip position control

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Kinematics of mechanisms and robots (70B15) Control, switches and devices (``smart materials) in solid mechanics (74M05)

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(3)

• A composite adaptive control with flexible quantity feedback for flexible-link manipulators
• Variable-order stochastic adaptive control of robotic manipulators with a flexible forearm
• Adaptive lattice estimation and control of a manipulator with one flexible forearm

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