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

Deirdre Meldrum; Mark J. Balas

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

Deirdre Meldrum
, Mark J. Balas

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	IEEE
Pages	825-832
Number of pages	8
State	Published - 1986
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "APPLICATION OF MODEL REFERENCE ADAPTIVE CONTROL TO A FLEXIBLE REMOTE MANIPULATOR ARM.",

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.",

author = "Deirdre Meldrum and Balas, \{Mark J.\}",

year = "1986",

language = "English (US)",

pages = "825--832",

booktitle = "Proceedings of the American Control Conference",

publisher = "IEEE",

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T1 - APPLICATION OF MODEL REFERENCE ADAPTIVE CONTROL TO A FLEXIBLE REMOTE MANIPULATOR ARM.

AU - Meldrum, Deirdre

AU - Balas, Mark J.

PY - 1986

Y1 - 1986

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0022605834

UR - https://www.scopus.com/pages/publications/0022605834#tab=citedBy

M3 - Conference contribution

AN - SCOPUS:0022605834

SP - 825

EP - 832

BT - Proceedings of the American Control Conference

PB - IEEE

ER -

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

Abstract

ASJC Scopus subject areas

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