(Georgia Institute of Technology, 1989-12)
Yuan, Bau-San; Book, Wayne J.; Huggins, J. D.
A robust adaptive control is derived by signal-synthesis
methods for a light, flexible two degree-of-freedom manipulator. The
controller for each joint is decentralized, using measurements of one
joint's position as well as one link's strain. The coupling to other
dynamics is treated as a bounded uncertainty in the model. A stability
proof has been developed and is outlined. Performance of the advanced
controller is compared to a Linear Quadratic Regulator (LOR) and to an independent joint control. Both simulations and experiments are
presented. The cases of payload variations are considered at this point.