Experimental results on discrete-time nonlinear adaptive tracking control of a single-link flexible manipulator

Author

Rokui, M. Reza ; Khorasani, K.

Author_Institution

Concordia Univ., Montreal, Que., Canada

Volume

2

fYear

1998

fDate

21-26 Jun 1998

Firstpage

1063

Abstract

The goal of the paper is to present experimental results on an adaptive tracking control strategy for a single-link flexible manipulator. The controller is designed based on the discrete-time nonlinear adaptive feedback linearization technique developed by the authors (1997) and later applied to a flexible link manipulator. The experimental results are compared with those of nonadaptive feedback linearization and conventional PD controller strategies. The results reveal that the adaptively controlled closed-loop system performance is improved compared to the nonadaptive feedback linearization and PD control schemes

Keywords

adaptive control; closed loop systems; control system synthesis; discrete time systems; linearisation techniques; manipulators; nonlinear control systems; position control; conventional PD controller; discrete-time nonlinear adaptive feedback linearization technique; discrete-time nonlinear adaptive tracking control; nonadaptive feedback linearization; single-link flexible manipulator; Adaptive control; Aerodynamics; Equations; Linear feedback control systems; Linearization techniques; Manipulator dynamics; PD control; Programmable control; Robots; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.703572

Filename

703572