Abstract
An adaptive sub-optimal explicit force control scheme for a one link flexible manipulator is considered in this article. A discrete time linear quadratic cost functional is minimized, in a sub-optimal sense, during every digital-to-analog conversion and yields the feedback control effort. The control topology corresponds to explicit force control as the error between the reference and measured force at the tip of the flexible link is regulated. The dynamics are assumed to be unknown, and are recovered via an on-line recursive least squares algorithm. Effects related to implementing the finite cost horizon, control effort weighting, varying environment stiffness, and model order are investigated. Numerical simulations are included to demonstrate the effectiveness of the proposed method.
Original language | English (US) |
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Pages | 159-166 |
Number of pages | 8 |
State | Published - 1995 |
Event | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA Duration: Nov 12 1995 → Nov 17 1995 |
Other
Other | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition |
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City | San Francisco, CA, USA |
Period | 11/12/95 → 11/17/95 |
ASJC Scopus subject areas
- Software
- Mechanical Engineering