Application of model reference adaptive control to a flexible remote manipulator armAn exact modal state-space representation is derived in detail 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. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.
Document ID
19870026101
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Meldrum, D. R. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Balas, M. J. (Rensselaer Polytechnic Institute, Troy, NY, United States)