Analysis of the effect of backlash and joint acceleration measurement noise in the adaptive control of electro-mechanical systems

IEEE International Symposium on Industrial Electronics

Volumn I, Issue , 2003, Pages 286-291

  Tar, J K ^a   Rudas, I J ^a   Bito J F ^a   Horvath L ^a   Kozlowski K ^b  

^a ÓBUDA UNIVERSITY   (Hungary)

^b POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Accelerometers; Adaptive control; Costs; Cybernetics; Electric motors; Interpolation; Machine learning; Noise robustness; Robots; Stochastic processes

Indexed keywords

ACCELERATION; ACCELERATION MEASUREMENT; ACCELEROMETERS; ADAPTIVE CONTROL SYSTEMS; ARTIFICIAL INTELLIGENCE; COSTS; CYBERNETICS; DEGREES OF FREEDOM (MECHANICS); ELECTRIC MACHINE CONTROL; ELECTRIC MOTORS; INDUSTRIAL ELECTRONICS; INTERPOLATION; LEARNING SYSTEMS; LINEAR TRANSFORMATIONS; MATHEMATICAL TRANSFORMATIONS; RANDOM PROCESSES; ROBOTS; SOFT COMPUTING; STOCHASTIC SYSTEMS;

ADAPTIVE CONTROL; COMPUTATIONAL ADVANTAGES; ELECTROMECHANICAL SYSTEMS; NOISE ROBUSTNESS; PREDICTION TECHNIQUES; REAL-TIME APPLICATION; RENORMALIZATION TRANSFORMATIONS; SYMPLECTIC TRANSFORMATIONS;

QUALITY CONTROL;

EID: 84944599985     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISIE.2003.1267260     Document Type: Conference Paper

References (7)

1. J.K. Tar, I.J. Rudas, J.F. Biró: "Group Theoretical Approach in Using Canonical Transformations and Symplectic Geometry in the Control of Approximately Modeled Mechanical Systems Interacting with Unmodelled Environment", Robotica, Vol. 15, pp. 163-179, 1997.
2. V.I. Arnold, Mathematical Methods of Classical Mechanics (in Hungarian) "Müszaki Könyvkiadó" Budapest, Hungary 1985.
3. J.K. Tar, M. Rontó: "Adaptive Control Based on the Application of Simplified Uniform Structures and Learning Procedures", Zbornik Radova, Vol. 24 No. 2, 2000, pp. 174-194, (ISSN: 0351-1804).
4. József K. Tar, Imre J. Rudas, János F. Bitó, Karel Jezernik: "A Generalized Lorentz Group-Based Adaptive Control for DC Drives Driving Mechanical Components", in the Proc. of The 10th International Conference on Advanced Robotics 2001 (ICAR 2001), August 22-25, 2001, Hotel Mercure Buda, Budapest, Hungary, pp. 299-305 (ISBN: 963 7154 05 1).
5. th International Conference on Advanced Robotics", August 22-25, Budapest, Hungary, pp. 701-706, ISBN 963 7154 05 1.
6. József K. Tar, János F. Bitó, Krzysztof Kozłowski, Béla Pátkai, D. Tikk: "Convergence Properties of the Modified Renormalization Algorithm Based Adaptive Control Supported by Ancillary Methods", in the Procthe 3rd International Workshop on Robot Motion and Control (ROMOCO '02), Bukowy Dworek, Poland, 9-11 November, 2002, pp. 51-56, ISBN 83-7143-429-4, IEEE Catalog Number: 02EX616.
7. th Annual Conference of the IEEE Industrial Electronics Society, Nov. 5-8 2002 Sevilla, Spain, Paper SF-001810, CD issue, ISBN 0-7803-7475-4. IEEE Catalog Number: 02CH37363C.