Direct Adaptive Control of a One-Link Flexible Arm with Tracking

Show simple item record Yuan, Bau-San Book, Wayne John Siciliano, Bruno 2011-06-22T14:10:13Z 2011-06-22T14:10:13Z 1989
dc.identifier.citation Yuan, Bau-San, W. Book, and B. Siciliano, "Direct Adaptive Control of a One-Link Flexible Arm with Tracking," The Journal of Robotic Systems, vol. 6, no. 6, pp. 663-680, 1989. en_US
dc.identifier.issn 0741-2223
dc.description © 1989 by John Wiley & Sons, Inc. en_US
dc.description.abstract A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally controlled linearized model of the system. The resulting controller overcomes the fundamental limitation in previously published research on direct adaptive control of flexible robots that required additional actuators solely to control the flexible degrees of freedom. The nominal trajectory is commanded by means of a tracking control. Simulation results for the prototype in the laboratory show improvements obtained with the outer adaptive feedback loop compared to a pure optimal regulator control. Robustness is tested by varying the payload mass. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Adaptive control en_US
dc.subject Flexible arms en_US
dc.subject Lightweight arms en_US
dc.title Direct Adaptive Control of a One-Link Flexible Arm with Tracking en_US
dc.type Article en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename Universita di Napoli. Dipartimento di informatica e sistemistica
dc.publisher.original John Wiley & Sons, Inc.

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