Retrospective cost adaptive control of a planar multilink arm with nonminimum-phase zeros

Alexey V. Morozov, Jesse B. Hoagg, Dennis S. Bernstein

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

14 Scopus citations

Abstract

We address the problem of adaptive command following and disturbance rejection for a nonlinear planar multilink mechanism interconnected by torsional springs and dashpots. We consider a nonlinear multilink mechanism where a control torque is applied to the hub of the multilink mechanism, and the objective is to control the angular position of the tip, which is separated from the hub by N links. In this paper, we derive the nonlinear equations of motion for the N link mechanism. We linearize these equations of motion and demonstrate that such systems have nonminimum-phase zeros when the control torque and angular position sensor are not colocated. To control this mechanism, we use a retrospective cost adaptive controller, which is effective for nonminimum-phase systems provided that you have an estimate of the nonminimum-phase zeros. We consider both command following and disturbance rejection problems, where the spectrum of the commands and disturbance are unknown.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages3706-3711
Number of pages6
DOIs
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

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

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States
CityAtlanta
Period12/15/1012/17/10

ASJC Scopus subject areas

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

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