Controller for multidegree of freedom nonlinear mechanical syste

Details Controller for multidegree of freedom nonlinear mechanical syste Controller for multidegree of freedom nonlinear mechanical syste

1986-01-23

1988-02-16

Smith, Jerry

Boots, shoes, and leggings

364162, 364513, 901 45, G05B 1300, G06F 900

Patent

active

047259426

ABSTRACT:
A controller for a multidegree of freedom nonlinear mechanical system is for applying an adaptive model following control to a nonlinear mechanical system with time-varying parameters which have multidegrees of freedom and a driving source for each of the degree of freedom, and is described by a differential equation of q-th degree.

REFERENCES:
patent: 3876871 (1975-04-01), Sinner
patent: 4156835 (1979-05-01), Whitney et al.
patent: 4458321 (1984-07-01), Whitney et al.
A. Balestrino et al, "An Adaptive Model Following Control for Robotic Manipulators", Journal of Dynamic Systems, Measurement and Control, Sep. 1983, vol. 105, pp. 143-151.
H. Kawasaki, "Trajectory Control of Manipulators by On-Line Parameter Identification", Transactions of the Society of Instrument and Control Engineers; vol. 20, No. 9, 1984, pp. 8-15.

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