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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Long, Theresa W. |
| Copyright Year | 1993 |
| Description | Author affiliation: NeuroDyne Inc., One Kendall Square, Cambridge, MA 02139 (Long, Theresa W.) |
| Abstract | This paper describes a learning controller which uses both a general model and a local model to produce good generalization and fast learning. The controller also differs from past learning controllers by generating control commands without using the inverse dynamics model. The controller was applied to the decentralized control of a highly coupled nonlinear system - a three link manipulator. Simulations show that the controller maintains a high tracking performance when the payload was varied from 0 to 4 times the normal payload. The tracking accuracy in terms of rms errors is $10^{5}$ radians, which is a two orders of magnitude better than a conventional decentralized adaptive controller previously reported for a similar system. |
| Starting Page | 1438 |
| Ending Page | 1439 |
| File Size | 236762 |
| Page Count | 2 |
| File Format | |
| ISBN | 0780308603 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1993-06-02 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Nonlinear control systems Control systems Nonlinear systems Payloads Nonlinear dynamical systems Inverse problems Distributed control Couplings Manipulator dynamics Error correction |
| Content Type | Text |
| Resource Type | Article |
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