An exact modal state-space representation is derived for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model-following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. The conditions that must be satisfied in order for the controller to work are stated. Simulation results are discussed along with the potential application of the model-following adaptive control scheme in robotics and space environments.
|Original language||English (US)|
|Title of host publication||Proceedings of the American Control Conference|
|Number of pages||8|
|State||Published - 1986|
ASJC Scopus subject areas
- Control and Systems Engineering