Practical Methods for the Compensation and Control of Multivariable Systems

摘要

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 Man/Machine 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)