Application of universal adaptive control to a two link robot

摘要

Universal adaptive control is applied to a planar rigid two-link robot. The equations of the UAC are reduced from N+N/sup 2/ order to 3N order by first applying the equations specifically to mechanical systems and then using a decoupled reference model. This reduction in order makes the technique more tractable for use in physical systems. The reduced-order linear adaptive controller is simulated with the equations of motion for the two-link robot. The system response shows that the adaptive controller not only forces the system to reach set points in a desired fashion, but also is able to adapt to changes in the mass at the distal end of the second link.