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dc.contributor.authorYuan, Bau-San
dc.contributor.authorBook, Wayne John
dc.contributor.authorSiciliano, Bruno
dc.identifier.citationYuan, 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.description© 1989 by John Wiley & Sons, Inc.en_US
dc.description.abstractA 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.publisherGeorgia Institute of Technologyen_US
dc.subjectAdaptive controlen_US
dc.subjectFlexible armsen_US
dc.subjectLightweight armsen_US
dc.titleDirect Adaptive Control of a One-Link Flexible Arm with Trackingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameUniversita di Napoli. Dipartimento di informatica e sistemistica
dc.publisher.originalJohn Wiley & Sons, Inc.

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