An application of on-line identification methods for control

Antonios Tzes, Stephen Yurkovich

Research output: Contribution to journalConference article

Abstract

The application of online identification schemes to flexible manipulators is considered. The common objective of all methods, for control purposes, is a time-domain parametrization of the system transfer function. Time-domain methods generally require more computational load, are more sensitive to noise than frequency-domain methods, and suffer from over (under) parametrization of the transfer function. Frequency-domain methods parametrize the lightly damped transfer function in terms of its easily recognizable poles and zeros, and offer alternatives to time-domain methods. Several solutions to overcome these problems are discussed and demonstrated through experimental studies on a single-link flexible manipulator.

Original languageEnglish (US)
Pages (from-to)3146-3147
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
Volume6
StatePublished - Dec 1 1990
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: Dec 5 1990Dec 7 1990

Fingerprint

Transfer Function
Flexible Manipulator
Flexible manipulators
Transfer functions
Frequency Domain Method
Time Domain
Parametrization
Poles and zeros
Identification Scheme
Damped
Pole
Experimental Study
Alternatives
Zero

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

An application of on-line identification methods for control. / Tzes, Antonios; Yurkovich, Stephen.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 6, 01.12.1990, p. 3146-3147.

Research output: Contribution to journalConference article

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