A robust controller for a one-link flexible arm moving along a predefined trajectory is proposed that is based on a model reference adaptive control approach. In order to satisfy the perfect model-following conditions, a linearized model of the optimally controlled system is chosen. The nominal trajectory is forced into the system by means of a dynamic filter. Simulation results for the laboratory prototype show the improvements obtained with the outer adaptive feedback loop with respect to a pure optimal control regulator. Robustness is tested by varying the nominal payload mass.

MODEL REFERENCE ADAPTIVE CONTROL OF A ONE LINK FLEXIBLE ARM

SICILIANO, BRUNO;
1986

Abstract

A robust controller for a one-link flexible arm moving along a predefined trajectory is proposed that is based on a model reference adaptive control approach. In order to satisfy the perfect model-following conditions, a linearized model of the optimally controlled system is chosen. The nominal trajectory is forced into the system by means of a dynamic filter. Simulation results for the laboratory prototype show the improvements obtained with the outer adaptive feedback loop with respect to a pure optimal control regulator. Robustness is tested by varying the nominal payload mass.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11588/487540
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