Adaptive Output Feedback Control of a Flexible Base Manipulator

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Title: Adaptive Output Feedback Control of a Flexible Base Manipulator
Author: Yang, Bong-Jun ; Calise, Anthony J. ; Craig, James I.
Abstract: This paper considers augmentation of an existing inertial damping mechanism by neural network-based adaptive control, for controlling a micromanipulator that is serially attached to a macromanipulator. The approach is demonstrated using an experimental test bed in which the micromanipulator is mounted at the tip of a cantilevered beam that resembles a macromanipulator with its joint locked. The inertial damping control combines acceleration feedback with position control for the micromanipulator so as to simultaneously suppress vibrations caused by the flexible beam while achieving precise tip positioning. Neural network-based adaptive elements are employed to augment the inertial damping controller when the existing control system becomes deficient due to modeling errors and uncertain operating conditions. There were several design challenges that had to be faced from an adaptive control perspective. One challenge was the presence of a nonminimum phase zero in an output feedback adaptive control design setting in which the regulated output variable has zero relative degree. Other challenges included flexibility in the actuation devices, lack of control degrees of freedom, and high dimensionality of the system dynamics. In this paper we describe how we overcame these difficulties by modifying a previous augmenting adaptive approach to make it suitable for this application. Experimental results are provided to illustrate the effectiveness of the augmenting approach to adaptive output feedback control design.
Description: Published in Journal of Guidance Control and Dynamics, Vol. 30, No. 4, July–August 2007. Presented as Paper 5322 at the AIAA Guidance, Navigation, and Control Conference, Providence, RI, 16–19 August 2004; received 7 March 2006; revision received 27 February 2007; accepted for publication 1 March 2007. Copyright © 2007 by the authors. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.
Type: Article
URI: http://hdl.handle.net/1853/35921
ISSN: 0731-5090
Citation: Adaptive Output Feedback Control of a Flexible Base Manipulator. Bong-Jun Yang, Anthony J. Calise, James I. Craig. Journal of Guidance Control and Dynamics, 30(4):1068-1080, 2007.
Date: 2007-07
Contributor: Georgia Institute of Technology. School of Aerospace Engineering
Publisher: Georgia Institute of Technology
American Institute of Aeronautics and Astronautics, Inc.
Subject: Flexible systems
Output feedback

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