Adaptive Robust Control of a Single Link Flexible Robot

摘要

In this paper, regulation of a single link flexible beam is considered using adaptive control techniques. The controller can guarantee the system stability while compensating for parametric uncertainty as well. More specifically, the proposed controller can stabilize the system based on the partial differential equations which govern the motion of the flexible robot, which is different from existing adaptive controllers for flexible robots in the literature. Thus, stability result holds for the original distributed-parameter system. Simulation results are presented to illustrate the performance of proposed control laws.