Referenced Items are not available for this document.
In this paper, we propose a fast online closed-loop identification method combined with an output-feedback controller of the generalized proportional integral (GPI) type for the control of an uncertain flexible robotic arm with unknown mass at the tip, including a Coulomb friction term in the motor dynamics. A fast nonasymptotic algebraic identification method developed in continuous time is used to identify the unknown system parameter and update the designed certainty equivalence GPI controller. In order to verify this method, several informative simulations and experiments are shown.
Published in:
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
(Volume:39
,
Issue:
3
)
Date of Publication: June 2009
- Page(s):
- 735 - 751
- ISSN :
- 1083-4419
- INSPEC Accession Number:
- 10560656
- Digital Object Identifier :
- 10.1109/TSMCB.2008.2008905
- Product Type:
- Journals & Magazines
- Date of Publication :
- 13 February 2009
- Date of Current Version :
- 07 April 2009
- Issue Date :
- June 2009
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
- PubMed ID :
- 19224737
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