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Showing papers by "Richard H. Middleton published in 1989"


Journal ArticleDOI
TL;DR: A simple scheme for improv ing the accuracy is presented whereby the robot improves its performance each time the task is performed, making use of the discrete time internal model principle.
Abstract: In many applications it is desirable to improve the dynamic accuracy of robots. In this paper a simple scheme for improv ing the accuracy is presented whereby the robot improves its performance eac...

92 citations


Journal ArticleDOI
TL;DR: In this article, the authors show that a similar result holds for the class of all stable unbiased state estimators, and this result is believed to have major implications for the design of robust estimators to deal with non-standard noise sources, modelling errors, etc.

77 citations


Journal ArticleDOI
TL;DR: A stable multirate sampling adaptive control algorithm is presented which enables the fast sampling rate to be applied in closed-loop feedback control.
Abstract: A stable multirate sampling adaptive control algorithm is presented which enables the fast sampling rate to be applied in closed-loop feedback control. The sampling rate is only restricted by the time needed for the control law computation (as in the nonadaptive control case) plus the estimation error computation. The plant input and output are recorded prior to the currently obtained estimate and used to compute the coming estimate and controller coefficients. Thus, the computation is not dependent upon the inputs and outputs appearing during the updating process. The closed-loop system is shown to be stable. >

33 citations



Journal ArticleDOI
TL;DR: In the case of unstructured modelling errors alone, it is shown that the theoretical sufficient conditions for signal boundedness of the adaptive controller are comparable with those for the fixed linear controller designed to achieve equivalent performance.

15 citations


Journal ArticleDOI
TL;DR: In this article, an integrated indirect adaptive design technique using a case study example is presented, where the separate optimization of procedures for parameter estimation and control law synthesis as well as a mechanism for integrating robust and adaptive control design are discussed.
Abstract: This paper illustrates an integrated indirect adaptive design technique using a case study example. Key features of this approach are the separate optimization of procedures for parameter estimation and control law synthesis as well as a mechanism for integrating robust and adaptive control design.

3 citations