Title :
Nonlinear adaptive control on elastic multi-link manipulators
Author :
Wung, Lih-Chang ; Chang, Wei ; Woo, Peng-Yung
Author_Institution :
Dept. of Electr. Eng., Northern Illinois Univ., DeKalb, IL, USA
Abstract :
In this paper a nonlinear adaptive control scheme is applied to structurally elastic multi-link manipulators. The research begins with the general dynamics of structurally elastic manipulators. Then a modified MRAC controller with a prescribed Lyapunov´s stable reference model is introduced. Based on the difference between the defined outputs of the reference model and the outputs of the control, the feedback coefficient matrices of the controller are determined and adapted. Theoretical analysis and computer simulations are done to show the effectiveness of the design
Keywords :
Lyapunov methods; adaptive control; feedback; flexible structures; least mean squares methods; manipulator dynamics; model reference adaptive control systems; nonlinear control systems; stability; Lyapunov stable reference model; MRAC control; dynamics; elastic multi-link manipulators; feedback coefficient matrices; least mean squares; nonlinear adaptive control; stability; Adaptive control; Aerodynamics; Control systems; Damping; Elasticity; Equations; Force control; Force feedback; Manipulator dynamics; Output feedback;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.559064
