TY - GEN
T1 - A numerical study on controlling a nonlinear multilink arm using a retrospective cost model reference adaptive controller
AU - Isaacs, Matthew W.
AU - Hoagg, Jesse B.
AU - Morozov, Alexey V.
AU - Bernstein, Dennis S.
PY - 2011
Y1 - 2011
N2 - 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.
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.
UR - https://www.scopus.com/pages/publications/84860652214
UR - https://www.scopus.com/pages/publications/84860652214#tab=citedBy
U2 - 10.1109/CDC.2011.6161351
DO - 10.1109/CDC.2011.6161351
M3 - Conference contribution
AN - SCOPUS:84860652214
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8008
EP - 8013
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -