A self-tuned version of a controller for asymptotic trajectory tracking of the end point of a two-link flexible robot arm is presented. The bounded solution to the inverse system, which is used in the control law, is tuned by the estimates of the unknown robot parameters, generated by a least square identification scheme. Soundness of the state of the adaptive controller is achieved by a stabilizing linear feedback from the output error, with fixed gains and robust with respect to variations of the parameters. This guarantees the total stability of the system, which is the main ingredient used in the proof of the controller properties, through a Lyapunov-like approach. The controller performance is finally illustrated by numerically simulating the tracking of an end point ramp under payload mass variations.
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March 1996
Technical Briefs
Adaptive Output Regulation of a Flexible Arm
P. Lucibello,
P. Lucibello
Dipartimento di Informatica e Sistemistica, Universita` degli Studi “La Sapienza”—Via Eudossiana 18, 00184 Roma, Italy
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F. Bellezza
F. Bellezza
Dipartimento di Informatica e Sistemistica, Universita` degli Studi “La Sapienza”—Via Eudossiana 18, 00184 Roma, Italy
Search for other works by this author on:
P. Lucibello
Dipartimento di Informatica e Sistemistica, Universita` degli Studi “La Sapienza”—Via Eudossiana 18, 00184 Roma, Italy
F. Bellezza
Dipartimento di Informatica e Sistemistica, Universita` degli Studi “La Sapienza”—Via Eudossiana 18, 00184 Roma, Italy
J. Dyn. Sys., Meas., Control. Mar 1996, 118(1): 167-172 (6 pages)
Published Online: March 1, 1996
Article history
Received:
March 24, 1994
Revised:
December 15, 1994
Online:
December 3, 2007
Citation
Lucibello, P., and Bellezza, F. (March 1, 1996). "Adaptive Output Regulation of a Flexible Arm." ASME. J. Dyn. Sys., Meas., Control. March 1996; 118(1): 167–172. https://doi.org/10.1115/1.2801140
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