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)