TY - GEN
T1 - Retrospective cost adaptive control of a planar multilink arm with nonminimum-phase zeros
AU - Morozov, Alexey V.
AU - Hoagg, Jesse B.
AU - Bernstein, Dennis S.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79953132349&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79953132349&partnerID=8YFLogxK
U2 - 10.1109/CDC.2010.5718121
DO - 10.1109/CDC.2010.5718121
M3 - Conference contribution
AN - SCOPUS:79953132349
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3706
EP - 3711
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
T2 - 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -