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RESEARCH PAPERS

Control Laws Based on Parameter Observation

[+] Author and Article Information
A. Tornambè

Dipartimento di Ingegneria Elettronica, Seconda Università di Roma “Tor Vergata”, 00173 Roma, Italy

J. Dyn. Sys., Meas., Control 114(2), 186-195 (Jun 01, 1992) (10 pages) doi:10.1115/1.2896514 History: Received May 22, 1990; Online March 17, 2008

Abstract

This paper deals with the use of asymptotic observers in the parameter estimation. Exact and approximate procedures are proposed taking into account the nonlinear behaviour of the dynamic systems considered. It is shown that a separation property holds for sufficiently fast observers and, therefore, that parameter estimates obtained by asymptotic observers are useful for the implementation of feedback control laws. The paper is completed with an application to flexible robot arms for the estimation of the elastic constant. Simulation tests are included.

Copyright © 1992 by The American Society of Mechanical Engineers
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