Title :
Adaptive Controller for Single-Link Flexible Manipulators Based on Algebraic Identification and Generalized Proportional Integral Control
Author :
Becedas, Jonathan ; Trapero, Juan Ramón ; Feliu, Vicente ; Sira-Ramírez, Hebertt
Author_Institution :
Dept. of Electr., Univ. de Castilla-La Mancha, Ciudad Real
fDate :
6/1/2009 12:00:00 AM
Abstract :
In this paper, we propose a fast online closed-loop identification method combined with an output-feedback controller of the generalized proportional integral (GPI) type for the control of an uncertain flexible robotic arm with unknown mass at the tip, including a Coulomb friction term in the motor dynamics. A fast nonasymptotic algebraic identification method developed in continuous time is used to identify the unknown system parameter and update the designed certainty equivalence GPI controller. In order to verify this method, several informative simulations and experiments are shown.
Keywords :
PI control; adaptive control; closed loop systems; feedback; flexible manipulators; friction; manipulator dynamics; Coulomb friction; adaptive controller; algebraic identification; continuous time systems; generalized proportional integral control; online closed-loop identification method; output-feedback controller; single-link flexible manipulators; uncertain flexible robotic arm; Adaptive control; algebraic estimation; flexible robots; generalized proportional integral (GPI) control;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2008.2008905