Accession Number:

ADA151047

Title:

Practical Methods for the Compensation and Control of Multivariable Systems.

Descriptive Note:

Final rept. 15 Sep 83-14 Sep 84,

Corporate Author:

BROWN UNIV PROVIDENCE RI DIV OF ENGINEERING

Personal Author(s):

• Wolovich,W. A.
• Cometta,C.

Report Date:

1985-01-01

Pagination or Media Count:

8.0

Abstract:

During the period covered by the grant four papers were written. Titles include, Parameterization issues in multivariable adaptive control, A computational technique for inverse kinematics, and Deadbeat control using periodic feedback. A unified treatment of direct and indirect strategies for parameterizing multivariable adaptive controllers was given. By considering unknown, but linear and time invariant systems in a deterministic setting, virtually all commonly employed adaptive control strategies were derived using pole placement notions. A new numerical solution to the general version of the inverse kinematic problem in robotics was obtained. Research within the Laboratory for Engineering ManMachine Systems at Brown University focussed on the development of a general purpose 68000 based microprocessor controller which could be employed in a variety of control environments. At present, a preliminary version of such a unit has been constructed and is being used to control a single axis of an IBM RS11 Cartesian robot. Author

Descriptors:

• *ADAPTIVE CONTROL SYSTEMS
• *MULTIVARIATE ANALYSIS
• KINEMATICS
• LINEAR SYSTEMS
• SETTING(ADJUSTING)
• ROBOTICS
• COMPUTATIONS
• MICROPROCESSORS
• SOLUTIONS(GENERAL)
• FEEDBACK
• COMPENSATION
• INVARIANCE

Subject Categories:

• Statistics and Probability

Distribution Statement:

APPROVED FOR PUBLIC RELEASE