Title:
Direct Adaptive Control of a One-Link Flexible Arm with Tracking
Direct Adaptive Control of a One-Link Flexible Arm with Tracking
dc.contributor.author | Yuan, Bau-San | |
dc.contributor.author | Book, Wayne J. | |
dc.contributor.author | Siciliano, Bruno | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.contributor.corporatename | Universita di Napoli. Dipartimento di informatica e sistemistica | |
dc.date.accessioned | 2011-06-22T14:10:13Z | |
dc.date.available | 2011-06-22T14:10:13Z | |
dc.date.issued | 1989 | |
dc.description | © 1989 by John Wiley & Sons, Inc. | en_US |
dc.description.abstract | A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally controlled linearized model of the system. The resulting controller overcomes the fundamental limitation in previously published research on direct adaptive control of flexible robots that required additional actuators solely to control the flexible degrees of freedom. The nominal trajectory is commanded by means of a tracking control. Simulation results for the prototype in the laboratory show improvements obtained with the outer adaptive feedback loop compared to a pure optimal regulator control. Robustness is tested by varying the payload mass. | en_US |
dc.identifier.citation | Yuan, Bau-San, W. Book, and B. Siciliano, "Direct Adaptive Control of a One-Link Flexible Arm with Tracking," The Journal of Robotic Systems, vol. 6, no. 6, pp. 663-680, 1989. | en_US |
dc.identifier.issn | 0741-2223 | |
dc.identifier.uri | http://hdl.handle.net/1853/39277 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | John Wiley & Sons, Inc. | |
dc.subject | Adaptive control | en_US |
dc.subject | Flexible arms | en_US |
dc.subject | Lightweight arms | en_US |
dc.title | Direct Adaptive Control of a One-Link Flexible Arm with Tracking | en_US |
dc.type | Text | |
dc.type.genre | Article | |
dspace.entity.type | Publication | |
local.contributor.author | Book, Wayne J. | |
local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
local.contributor.corporatename | College of Engineering | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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