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

doi:10.1109/CDC.2011.6161351

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages	8008-8013
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2011.6161351
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Conference

Conference	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2011.6161351

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Isaacs, M. W., Hoagg, J. B., Morozov, A. V., & Bernstein, D. S. (2011). A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 8008-8013). [6161351] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6161351

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

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.",

author = "Isaacs, {Matthew W.} and Hoagg, {Jesse B.} and Morozov, {Alexey V.} and Bernstein, {Dennis S.}",

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Isaacs, MW, Hoagg, JB, Morozov, AV & Bernstein, DS 2011, A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161351, Proceedings of the IEEE Conference on Decision and Control, pp. 8008-8013, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6161351

A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller. / Isaacs, Matthew W.; Hoagg, Jesse B.; Morozov, Alexey V. et al.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. p. 8008-8013 6161351 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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Isaacs MW, Hoagg JB, Morozov AV, Bernstein DS. A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. p. 8008-8013. 6161351. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6161351

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

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