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• W2158384129 abstract "We address the problem of adaptive command following and disturbance rejection for a nonlinear planar multilink mechanism interconnected by torsional springs and dashpots. We consider a nonlinear multilink mechanism where a control torque is applied to the hub of the multilink mechanism, and the objective is to control the angular position of the tip, which is separated from the hub by N links. In this paper, we derive the nonlinear equations of motion for the N link mechanism. We linearize these equations of motion and demonstrate that such systems have nonminimum-phase zeros when the control torque and angular position sensor are not colocated. To control this mechanism, we use a retrospective cost adaptive controller, which is effective for nonminimum-phase systems provided that you have an estimate of the nonminimum-phase zeros. We consider both command following and disturbance rejection problems, where the spectrum of the commands and disturbance are unknown." @default.
• W2158384129 created "2016-06-24" @default.
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• W2158384129 date "2010-12-01" @default.
• W2158384129 modified "2023-09-23" @default.
• W2158384129 title "Retrospective cost adaptive control of a planar multilink arm with nonminimum-phase zeros" @default.
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• W2158384129 doi "https://doi.org/10.1109/cdc.2010.5718121" @default.
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