Model reference adaptive control of flexible robots in the presence of sudden load changes

Rodrigo Steinvorth; Howard Kaufman; Gregory W. Neat

doi:10.1117/12.25419

1 February 1991 Model reference adaptive control of flexible robots in the presence of sudden load changes

Rodrigo Steinvorth, Howard Kaufman, Gregory W. Neat

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25419
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition such MRAC procedures are designed so that a feedforward augmented output follows the reference model output thus resulting in an ultimately bounded rather than zero output error. Thus modifications are suggested and tested that 1)incorporate feedforward into the reference model''s output as well as the plant''s output and 2)incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error and thus encourage further use of MRAC for more complex flexible robotic systems.

Citation Download Citation

Rodrigo Steinvorth, Howard Kaufman, and Gregory W. Neat "Model reference adaptive control of flexible robots in the presence of sudden load changes", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25419

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