Title:
Direct Adaptive Control of a One-Link Flexible Arm with Tracking
Direct Adaptive Control of a One-Link Flexible Arm with Tracking
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Yuan, Bau-San
Book, Wayne J.
Siciliano, Bruno
Book, Wayne J.
Siciliano, Bruno
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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.
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Date Issued
1989
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