Title :
Adaptive joint control design for a flexible two-link system
Author :
Xu, Wenwei ; Du, Hongliu ; Nair, Satish S.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
Abstract :
Investigates a robust adaptive control design for a flexible two-link system considering joint angle control in the presence of system uncertainties. The system uncertainties are treated as unknown bounded continuous functions of the states. A Gaussian network is used to map the uncertainties in the MIMO system. A convergent stable learning algorithm is developed for the control design. Simulations show the effectiveness of the proposed learning control strategy
Keywords :
MIMO systems; adaptive control; control system synthesis; convergence; flexible structures; learning systems; robust control; uncertain systems; Gaussian network; convergent stable learning algorithm; flexible two-link system; joint angle control; robust adaptive control design; system uncertainties; unknown bounded continuous functions; Adaptive control; Control design; Control systems; DC motors; Friction; Payloads; Programmable control; Shape; Uncertainty; Vibrations;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786359
