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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