Model Reference Adaptive Control of a One Link Flexible Arm

©1986 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at the 25th IEEE Conference on Decision and Control, Athens, Greece, Dec. 10-12, 1986.DOI: 10.1109/CDC.1986.267160Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model is chosen from the linearized model of the system as optimally controlled. The nominal trajectory is commanded to the system by means of a dynamic filter. Simulation results for the prototype in the laboratory show the improvements obtained with the outer adaptive feedback loop with respect to a pure optimal control regulator. Robustness is finally tested by varying the nominal payload mas