Application of Model Reference Adaptive Control to a Flexible Remote Manipulator Arm Conference Paper

abstract

• An 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.

name of conference

• 1986 American Control Conference

authors

• Balas, Mark

published proceedings

• 1986 American Control Conference

author list (cited authors)

• Meldrum, D. R., & Balas, M. J.

citation count

• 26

complete list of authors

• Meldrum, Deirdre R||Balas, Mark J

publication date

• June 1986

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Actuators
• Adaptive Control
• Boundary Conditions
• Control Systems
• Lighting Control
• Modeling
• Motion Control
• Sensor Systems
• Sensor Systems And Applications
• Torque Control

Digital Object Identifier (DOI)

• 10.23919/acc.1986.4789048

start page

• 825

end page

• 832

URL

• http://dx.doi.org/10.23919/acc.1986.4789048