IMPROVEMENT OF ROBUST DIGITAL-CONTROL BY IDENTIFICATION IN THE CLOSED-LOOP - APPLICATION TO A 360-DEGREES FLEXIBLE ARM

Citation
J. Langer et Id. Landau, IMPROVEMENT OF ROBUST DIGITAL-CONTROL BY IDENTIFICATION IN THE CLOSED-LOOP - APPLICATION TO A 360-DEGREES FLEXIBLE ARM, Control engineering practice, 4(12), 1996, pp. 1637-1646
Citations number
11
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
ISSN journal
09670661
Volume
4
Issue
12
Year of publication
1996
Pages
1637 - 1646
Database
ISI
SICI code
0967-0661(1996)4:12<1637:IORDBI>2.0.ZU;2-Z
Abstract
This paper presents a procedure for the improvement of identification results from open-loop experiments by identification in a closed loop without modification of the identification protocol. Several available identification algorithms are considered, and two methods for the val idation of the model identified in a closed loop are introduced. As a consequence, an improved robust controller is obtained. Results are pr esented from experiments on a very flexible 360 degrees arm.