A model reference adaptive system for control of a flexible mechanical manipulator Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/b5644v99c

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  • For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct application of the adaptive control scheme to the control of a flexible manipulator. Use of the assumed-mode method and the modified model reference adaptive system reduce difficulties in designing the controller of the flexible manipulator. A numerical simulation, using the above procedure, is developed to identify a flexible manipulator with unknown parameters and simulation results show the satisfactory convergence of the parameters.
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