A simple redesign of adaptive control for flexible arms by finite dimensional controllers

Author

Miyasato, Yoshihiko

Author_Institution

Inst. of Stat. Math., Tokyo, Japan

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

1901

Lastpage

1906

Abstract

A simple design method of adaptive control for flexible arms is considered in the present manuscript. Control schemes of flexible arms are mixed parameter systems composed of distributed parameter systems of hyperbolic type (flexible arms) and lumped parameter systems (motor control systems). It is shown that the finite dimensional adaptive control schemes are constructed without complicated control structures and without time-derivative of bending displacement of the arms, and that semi-global stability of the control system is assured.

Keywords

adaptive control; control system synthesis; distributed parameter systems; flexible manipulators; machine control; multidimensional systems; observers; design method; distributed parameter systems; finite dimensional adaptive control schemes; finite dimensional controllers; flexible arms; high-gain observer; hyperbolic type; lumped parameter systems; mixed parameter systems; motor control systems; Adaptive control; Arm; Control systems; Design methodology; Displacement control; Distributed parameter systems; Eigenvalues and eigenfunctions; Motor drives; Process control; Stability; adaptive control; distributed parameter system; flexible arm; high-gain observer;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5333078