| タイトル | Adaptive tracking for complex systems using reduced-order models |
| 著者（英） | Carnigan, Craig R. |
| 著者所属（英） | ST Systems Corp. |
| 発行日 | 1990-01-01 |
| 言語 | eng |
| 内容記述 | Reduced-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. |
| NASA分類 | CYBERNETICS |
| レポートNO | 91A35261 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/348522 |
|
