Proceedings Article10.23919/ACC.2004.1384044
Variable parameter EW-RLS algorithm with dead zone for the trajectory tracking of the joints of the manipulator
Yuncan Xue,Hongbin Du,Huihe Shao +2 more
- 01 Jan 2004
- Vol. 5, pp 4649-4652
TL;DR: Good tracking performance shows the effectiveness of the improved RLS algorithm, and the selection criteria of the error level are given according to the min-max principle.
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Abstract: A variable parameter RLS algorithm with dead zone is presented in this paper. The concept of the error level is proposed. The selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved RLS algorithm.
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