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; B. . S., Yuan; W. J., Book. - STAMPA. - (1986), pp. 91-95. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a Athens, Greece nel December) [10.1109/CDC.1986.267160].
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
