Model Reference Adaptive Control of a One Link Flexible Arm

Abstract

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