111 Elimination of fixed modes in linear control systems with constrained control structures: T. Tanino, K. Abe, M. Tanaka, pp 479–482
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 117 KB
- Volume
- 2
- Category
- Article
- ISSN
- 0967-0661
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✦ Synopsis
Abstracts determine the AR. The method is illustrated by examples, some of which have not been solved by conventional o~imization techniques. 107 An Efficient Computational Algorithm for Adaptive Manipulator Control H. Kawasaki, S. Mochizuki, K. Kanzaki, pp 459-462 This paper presents a new computational algorithm of adaptive manipulator control adopting the basic method proposed by Slotine and Li. The algorithm is based on the recunive Newton-Euler formulation and the minimum dynamic parameters derived by Kawasaki and Kanzaki. The number of operations required in this algorithm is about one half of those for the method presented by Niemeyer and Slotine. The paper also presents experimental results on the adaptive control of a robot manipulator with six degrees of freedom. Its control system has a 32-hit DSP for the computation of the adaptive control. 108 Relations Between Dynamic Programming and Maximum Principle for Descriptor Systems H. Xu, K. Mlzukami, pp 463-468
In this paper, the connection between dynamic programming and the maximum principle for the descriptor system is established, as in the state-space system. The maximum principle for the descriptor system is deduced with the aid of the dynamic programming method. By using this method, the assumptions of admissible initial condition, or admissible condition, can be avoided. The results obtained in this paper can extend the domain of application of the maximum principle for the descriptor system.
An illustrative example without admissible initial condition assumption is given to show the application of the maximum principle.