Application and comparison of on-line identification methods for flexible manipulator control

Anthony P. Tzes, Stephen Yurkovich

Research output: Contribution to journalArticlepeer-review


The application of on-line identification schemes to flexible manipulators is considered. The common objective of all methods, for control purposes, is a time domain parameterization 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-) parameterization of the transfer function. Frequency domain methods parameterize 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 the aforementioned problems are discussed and demonstrated through experimental studies on a one-link flexible manipulator.

Original languageEnglish (US)
Pages (from-to)515-527
Number of pages13
JournalUnknown Journal
Issue number5
StatePublished - 1991

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


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