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

fYear

1996

fDate

15-18 Sep 1996

Firstpage

1043

Lastpage

1047

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-2975-9

Type

conf

DOI

10.1109/CCA.1996.559064

Filename

559064