A discrete time self tuning computed torque controller for robotic manipulators

A feasibility study is described for the design of a self-tuning controller for gas turbines with the multivariable discrete-time robust controller designed using a Linear Quadratic Gaussian/ Loop Transfer Recovery (LQG/LTR) design approach.

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On Self-Tuning Control of Nonminimum Phase Discrete-Time Systems Using Approximate Inverse Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2897387 ◽

1993 ◽

Vol 115 (1) ◽

pp. 12-18 ◽

Cited By ~ 17

Author(s):

Takashi Yahagi ◽

Jianming Lu

Keyword(s):

Discrete Time ◽

Stochastic Systems ◽

Output Data ◽

Approximate Inverse ◽

Nonminimum Phase ◽

Discrete Time Systems ◽

Inverse Systems ◽

Self Tuning ◽

The Stability ◽

Time Systems

This paper presents a new method for self-tuning control of nonminimum phase discrete-time stochastic systems using approximate inverse systems obtained from the least-squares approximation. We show how unstable pole-zero cancellations can be avoided, and that this method has the advantage of being able to determine an approximate inverse system independently of the plant zeros. The proposed scheme uses only the available input and output data and the stability using approximate inverse systems is analyzed. Finally, the results of computer simulation are presented to show the effectiveness of the proposed method.

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Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators

Proceedings of the 1996 IEEE International Symposium on Intelligent Control ◽

10.1109/isic.1996.556222 ◽

2002 ◽

Cited By ~ 2

Author(s):

B. Porter ◽

N.N. Zadeh

Keyword(s):

Fuzzy Logic ◽

Robotic Manipulators ◽

Rule Induction ◽

Fuzzy Logic Controllers ◽

Computed Torque ◽

Logic Controllers

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Robustness of adaptive discrete-time LQG control for first-order systems

Bulletin of the Polish Academy of Sciences Technical Sciences ◽

10.2478/v10175-010-0009-3 ◽

2010 ◽

Vol 58 (1) ◽

pp. 89-97

Author(s):

A. Królikowski ◽

D. Horla

Keyword(s):

Control System ◽

Discrete Time ◽

Point Of View ◽

Constrained Control ◽

Certainty Equivalence ◽

First Order ◽

Lqg Control ◽

Self Tuning ◽

And Performance ◽

Performance Robustness

Robustness of adaptive discrete-time LQG control for first-order systemsThe discrete-time adaptive LQG control of first-order systems is considered from robustness point of view. Both stability and performance robustness are analyzed for different control system structures. A case of amplitude-constrained control is presented, and application of certainty equivalence for self-tuning implementation is also discussed.

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