Implementation of self-tuning control of a flexible manipulator system

A single-link, flexible manipulator system was set up in the laboratory. The recursive least square (RLS) parameter estimation method in time domain and empirical transfer function estimate (ETFE) in frequency domain were used to identify the autoregressive moving average (ARMA) model of the flexible manipulator system. An online time domain RLS identification algorithm combined with an optimization algorithm formed the self-tuning routine. Only endpoint acceleration measurements and motor shaft angle measurements were utilized in the control schemes. Simulation and experimental results show that proportional constant tuning alone was effective in controlling the system.