A new multirate sampled-data control law structure and synthesis algorithmA new multirate sampled-data control law structure is defined and a new parameter-optimization-based synthesis algorithm for that structure is introduced. The synthesis algorithm can be applied to multirate, multiple-input multiple-output, sampled-data control laws having a prescribed dynamic order and structure, and a priori specified sampling/update rates for all sensors, processor states, and control inputs. The synthesis algorithm is applied to design two-input, two-output tip position controllers of various dynamic orders for a sixth-order, two-link robot arm model.
Document ID
19920046724
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Berg, Martin C. (NASA Langley Research Center Hampton, VA, United States)
Mason, Gregory S. (Washington, University Seattle, United States)
Yang, Gen-Sheng (Chung Shan Institute of Science and Technology Republic of China, United States)