DocumentCode :
425252
Title :
Adaptive control of a flexible-link mechanism using an energy-based approach
Author :
Trevisani, Alberto ; Valcher, Maria Elena
Author_Institution :
Dipt. di Innovazione Meccanica e Gestionale, Padova Univ., Italy
Volume :
6
fYear :
2004
fDate :
June 30 2004-July 2 2004
Firstpage :
5256
Abstract :
The aim of any control scheme for a flexible-link mechanism is that of ensuring that the controlled system performs a fast and accurate positioning while exhibiting small vibrations. Aiming at achieving these goals, in this paper an adaptive controller is proposed for a four-bar flexible link mechanism. The controller is obtained by superposing a PD position controller and an adaptive proportional vibration controller. The position controller is a priori tuned, based on the physical features of the flexible mechanism. The vibration controller, instead, is a proportional controller whose gains are adaptively tuned to ensure good performances even when working conditions change and abrupt disturbances affect the system functioning. The controlled-system stability is formally proved by means of an energy-based approach. Moreover, the controller performances are illustrated by means of simulations and compared to the performances of "analogous" non-adaptive control schemes.
Keywords :
PD control; adaptive control; bars; control system synthesis; flexible structures; position control; stability; vibration control; PD position controller; adaptive controller design; adaptive proportional vibration controller; energy based method; four bar flexible link mechanism; stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
ISSN :
0743-1619
Print_ISBN :
0-7803-8335-4
Type :
conf
Filename :
1384687
Link To Document :
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