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Adaptive tracking for complex systems using reduced-order modelsReduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track a payload trajectory using a four-parameter model instead of the full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.
Document ID
19910050638
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Carnigan, Craig R.
(ST Systems Corp. Lanham, MD, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Accession Number
91A35261
Funding Number(s)
CONTRACT_GRANT: NAS5-28561
CONTRACT_GRANT: NAS5-30440
Distribution Limits
Public
Copyright
Other

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