Control of flexible structures using model following control scheme

1994 ◽  
Author(s):  
Youdan Kim ◽  
Chulho Yang
Keyword(s):  
Flexible Structures ◽  
Model Following Control ◽  
Model Following ◽  
Control Scheme

scholarly journals Realization of DC-DC Buck Converter Based on Hybrid H2 Model Following Control

2021 ◽  
pp. 1-1
Author(s):  
J. S. Fang ◽  
Sheng-Hong Tsai ◽  
Jun-Juh Yan ◽  
P. L. Chen ◽  
Shu-Mei Guo
Keyword(s):  
Buck Converter ◽  
Model Following Control ◽  
Model Following

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment

1995 ◽  
Vol 209 (3) ◽  
pp. 197-205 ◽  
Author(s):  
F Gomes de Almeida ◽  
K A Edge
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Following ◽  
Control Scheme ◽  
Series Of Experiments ◽  
Hydraulic Manipulator ◽  
Model Reference Adaptive ◽  
Decentralized Model ◽  
Adaptive Control Scheme

The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

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