Title :
Boundary control of a flexible cable with actuator dynamics
Author :
Canbolat, H. ; Dawson, D. ; Rahn, C. ; Nagarkatti, S.
Author_Institution :
Center for Adv. Manuf., Clemson Univ., SC, USA
Abstract :
We develop boundary controllers for a flexible cable with actuator dynamics at the boundary. Specifically, we develop an exact model knowledge controller which exponentially stabilizes the position of the cable and an adaptive controller which asymptotically stabilizes the position of the cable while compensating for parametric uncertainty. The performance of the controllers is illustrated via experimental results
Keywords :
actuators; adaptive control; asymptotic stability; compensation; dynamics; feedback; position control; vibration control; actuator dynamics; adaptive controller; boundary control; exact model knowledge controller; flexible cable; parametric uncertainty; Actuators; Adaptive control; Control systems; Distributed control; Flexible manufacturing systems; Mathematical model; Mechanical cables; Programmable control; Pulp manufacturing; Vibration control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609480
