A Robust Scheme for Direct Adaptive Control of Flexible Arms
Book, Wayne John
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In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural vibrations are required to model the dynamic system. A robust feedback control which is constructed is based on the Lyapounv function for the analysis of uniform boundedness. The control signal is synthesized from estimated states. This is accomplished by separating the system into two parts: linear and nonlinear (uncertainty in the linear model). Performance of a one-link flexible arm resulting from this control algorithm is compared with that of purely linear feedback control.