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