Reduced variance implicit self-tuning a;gorithm with variable time-delays for robot manipulator

로보트 매니풀레이터의 시변 지연 시간을 고려한 분산 감소 임플리시트 자기동조 알고리즘

A controller described in this paper is designed for implicit generalised minimum varience controller with variable time delays in which the weighting polynominals are calculated to reduce the output and control signals variances. This paper is based on the fact that the pole-assigment equation may have multiple solutions if the weighting polynominals are not of minimal order. It is shown that the larger order of the weighting polynominals increment the better is the stochastic behavior of the closed-loop system with variable time delays without changs in the deterministic behavior of the system. Based on this theory, the controller is applied to position control of a three-link manipulater with parameter uncertainty.