Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm

Abstract

A robust adaptive control is derived by signal-synthesis methods for a light, flexible two degree-of-freedom manipulator. The controller for each joint is decentralized, using measurements of one joint's position as well as one link's strain. The coupling to other dynamics is treated as a bounded uncertainty in the model. A stability proof has been developed and is outlined. Performance of the advanced controller is compared to a Linear Quadratic Regulator (LOR) and to an independent joint control. Both simulations and experiments are presented. The cases of payload variations are considered at this point.