Title:
A Robust Scheme for Direct Adaptive Control of Flexible Arms
A Robust Scheme for Direct Adaptive Control of Flexible Arms
Author(s)
Yuan, Bau-San
Book, Wayne J.
Book, Wayne J.
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Abstract
In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in
accurately controlling a flexible structure. Both rigid body motions and flexural vibrations are
required to model the dynamic system. A robust
feedback control which is constructed is based on the
Lyapounv function for the analysis of uniform
boundedness. The control signal is synthesized from
estimated states. This is accomplished by separating
the system into two parts: linear and nonlinear
(uncertainty in the linear model). Performance of a
one-link flexible arm resulting from this control
algorithm is compared with that of purely linear
feedback control.
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Date Issued
1987-11
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Resource Type
Text
Resource Subtype
Pre-print