Error minimising gradients for improving cerebellar model articulation controller performance

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Error minimising gradients for improving cerebellar model articulation controller performance

In motion control applications where the desired trajectory velocity exceeds an actuator’s maximum velocity limitations, large position errors will occur between the desired and actual trajectory responses. In these situations standard control approaches cannot predict the output saturation of the a...

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Bibliographic Details
Main Author:	Scarfe, Peter Craig
Format:	Thesis
Language:	English
Published:	Curtin University 2009
Subjects:	trajectory velocity Error Minimising Gradient Controller (EMGC) position errors feedforward / feedback controller motion control applications velocity limitations Cerebellar Model Articulation Controller (CMAC) actuator's
Online Access:	http://hdl.handle.net/20.500.11937/1241

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