Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm
Book, Wayne John
Huggins, J. D.
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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.