ISSN:0890-6327    

DOI:10.1002/acs.4480010102

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

摘要:

AbstractThe design of adaptive algorithms for the tracking of slowly time‐varying systems is investigated. A criterion for measuring the tracking capability of an algorithm in this situation was introduced in an earlier work; the domain of validity of this criterion is shown to be much wider than expected. On the other hand, multistep algorithms, introduced in the Soviet literature, are generalized and systematically studied; they are shown to provide significant improvements over the classical (one‐step) methods for tracking. Finally, a complete design methodology for adaptive algorithms, used on time‐varying systems is

ISSN:0890-6327    

DOI:10.1002/acs.4480010103

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

摘要:

AbstractA continuous‐time self‐tuning controller, based on the well‐known discrete‐time generalized minimum‐variance self‐tuning controller, is introduced. Using input—output stability methods, frequency domain conditions are derived which ensureL∞stability in the face of multiplicative process perturbations. The analysis is illustrated using an exampl

ISSN:0890-6327    

DOI:10.1002/acs.4480010104

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

摘要:

AbstractThis paper addresses the problems of designing and analysing a set of stable and robust controls for nonlinear systems whose equations are representative of mechanical systems such as robot manipulators. When applied to robotics, this theoretical analysis proves that most of the control schemes which are used in practice or proposed in the literature, ranging from the simplest PD control to more complex controls such as adaptive controls or controls based on the so‐called ‘computed torque method’, are liable to perform equally well if the manipulator is perfectly rigid and ideal sensors are used. Consequently, it appears that the main justification for using elaborate schemes is to avoid the need for including large constant control gains when high performance is demanded. At this stage, the analysis suggests the possibility of using more flexible non‐linear control gains as a way of improving all

ISSN:0890-6327    

DOI:10.1002/acs.4480010105

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

摘要:

AbstractEfficient parallel architectures for recursive least squares with directional forgetting are presented. Two different arrays are proposed. The first employsO(n)processors and exhibits a 1/(2n+ 3) throughput rate,nbeing the number of parameters to be estimated. The second can achieve a 1/(n+ 2) throughput rate at the expense of anO(n2)processor complexity. Both architectures make use of the UD algorithm, here properly modified so as to embody the directional‐forgetting varian

ISSN:0890-6327    

DOI:10.1002/acs.4480010106

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480010107

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480010108

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480010109

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480010111

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480010112

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1987

数据来源: WILEY