BOUNDARY CONTROL FOR A GENERAL CLASS OF NON-LINEAR STRING–ACTUATOR SYSTEMS

This paper introduces boundary controllers for a general class of non-linear string–actuator systems. The non-linear distributed-parameter model accounts for large amplitude displacement and the associated varying tension according to a general class of non-linear stress–strain relationships. A non-linear, model-based controller asymptotically drives the system energy to zero. Redesign of the controller using adaptation laws allows compensation for parametric uncertainty while asymptotically driving the system energy to zero. Experimental results verify the feasibility of implementing the proposed controllers and compare the performance with damper and linear controllers.