20157

Multi-Input Multi-Output Direct Adaptive Control for a Distributed Parameter Flexible Rotating Arm

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In this paper, a Multi-Input Multi-Output (MIMO) Model Reference Adaptive Control (MRAC) scheme for a exible rotating arm is developed. In order to construct a reference model to be followed by this distributed parameter system, a nite element method is used to approximate the behavior of the arm. An input error direct adaptive control algorithm is utilized as the control approach to account for parameter uncertainty. Assuming the same approximation and structure as the model for the actual system, the stability analysis of the proposed controller will be straightforward. Simulation results are provided to illustrate the performance of the proposed algorithm in the presence of disturbance and uncertainties. Also, the proposed algorithm results are compared with those of a conventional PD controller.

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