Robust control of mechanical systems: an experimental study

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Abstract

Two adaptive control schemes for nonlinear mechanical systems, proposed by Slotine and Li (1987, 1988) and Kelly (1990), are investigated, with emphasis on robustness for unmodeled dynamics. The investigation is performed along the following lines: select a system for testing the controllers, it must be possible to change the dynamics of this system easily,; design and tune the control schemes for the system without unmodeled dynamics; and evaluate the tracking performance of the control schemes for the system with unmodeled dynamics. The system used for designing and tuning the controllers is a two degrees of freedom manipulator, a XY-table, with two prismatic joints. The control task is to follow a periodic trajectory, e.g., a circle. Both adaptive control schemes are based on a model, of which the parameters are adapted, and a feedback component, including PD action, for the remaining tracking error. A pure PD control is used for reference. All three control schemes can use friction compensation
Original languageEnglish
Title of host publicationNonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symposium
EditorsM. Fliess
Place of PublicationOxford, UK
PublisherPergamon
Pages455-461
ISBN (Print)0-08-041901-1
Publication statusPublished - 1993

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