A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller

Matthew W. Isaacs, Jesse B. Hoagg, Alexey V. Morozov, Dennis S. Bernstein

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

We address the model reference adaptive control problem for a nonlinear multilink planar arm mechanism, where links are interconnected by torsional springs and dashpots, a control torque is applied to the hub of the mechanism, and the objective is to control the angular position of the last link. It is known that the linearized transfer function for the multilink planar arm has nonminimum-phase zeros when the control torque and angular position sensor are not colocated. We use a retrospective cost model reference adaptive control (RC-MRAC) algorithm, which is effective for nonminimum-phase systems provided that the nonminimum-phase zeros are known.We demonstrate that RC-MRAC effectively controls the multilink arm for a range of reference model command signal amplitudes and frequencies.

Original languageEnglish
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages8008-8013
Number of pages6
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/TerritoryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint

Dive into the research topics of 'A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller'. Together they form a unique fingerprint.

Cite this