An application of on-line identification methods for control

Anthony P. 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

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ASJC Scopus subject areas

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

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