APPLICATION OF MODEL REFERENCE ADAPTIVE CONTROL TO A FLEXIBLE REMOTE MANIPULATOR ARM.

Deirdre Meldrum, Mark J. Balas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

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 languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages825-832
Number of pages8
StatePublished - 1986
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Meldrum, D., & Balas, M. J. (1986). APPLICATION OF MODEL REFERENCE ADAPTIVE CONTROL TO A FLEXIBLE REMOTE MANIPULATOR ARM. In Proceedings of the American Control Conference (pp. 825-832). IEEE.