A Model Reference Adaptive System for Control of a Flexible Mechanical Manipulator

Download or read book A Model Reference Adaptive System for Control of a Flexible Mechanical Manipulator written by Byeung Kyun Lee and published by . This book was released on 1988 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct application of the adaptive control scheme to the control of a flexible manipulator. Use of the assumed-mode method and the modified model reference adaptive system reduce difficulties in designing the controller of the flexible manipulator. A numerical simulation, using the above procedure, is developed to identify a flexible manipulator with unknown parameters and simulation results show the satisfactory convergence of the parameters.