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- de Wit, Carlos Canudas, et al.
(författare)
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Computed Torque Control via a Nonlinear Observer
- 1990
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Ingår i: International Journal of Adaptive Control and Signal Processing. - : Wiley. - 0890-6327 .- 1099-1115. ; 4:6, s. 443-452
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Tidskriftsartikel (refereegranskat)
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- DeWeerth, Steve, et al.
(författare)
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A Neuron-Based Pulse Servo for Motion Control
- 1990
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Ingår i: Proceedings. 1990 IEEE International Conference on Robotics and Automation. - 0818690615 ; 3, s. 1698-1703
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Konferensbidrag (refereegranskat)abstract
- Sensory control based on biological computational paradigms can be implemented using low-power analog very large-scale integrated circuitry. We describe a design frame and a set of circuit elements with which generic motor controllers can be implemented. We then embed a simple proportional-derivative motor controller in the design frame, and describe its performance advantages over a more traditional controller. We also discuss the merits of biologically inspired systems used in applications related to robotics.
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- Wittenmark, Björn, et al.
(författare)
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Some Aspects on Pole-Placement Design
- 1990
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Ingår i: IFAC Proceedings Volumes : 11th IFAC World Congress on Automatic Control - 11th IFAC World Congress on Automatic Control. ; 23:8:1, s. 211-216
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Konferensbidrag (refereegranskat)abstract
- Pole-placement design for SISO systems are discussed in input-output formulation. It is shown how the different design parameters influence the performance of the closed loop system. For instance, the influence of sampling period, anti-aliasing filter, and desired closed loop performance are treated in detail. Rules of thumb for the choice of the different parameters are given.
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