Nonlinear adaptive control on elastic multi-link manipulators

摘要

In this paper a nonlinear adaptive control scheme is applied tostructurally elastic multi-link manipulators. The research begins withthe general dynamics of structurally elastic manipulators. Then amodified MRAC controller with a prescribed Lyapunov's stable referencemodel is introduced. Based on the difference between the defined outputsof the reference model and the outputs of the control, the feedbackcoefficient matrices of the controller are determined and adapted.Theoretical analysis and computer simulations are done to show theeffectiveness of the design