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Proceedings Paper

Model reference adaptive control of flexible robots in the presence of sudden load changes
Author(s): Rodrigo Steinvorth; Howard Kaufman; Gregory W. Neat
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Paper Abstract

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition such MRAC procedures are designed so that a feedforward augmented output follows the reference model output thus resulting in an ultimately bounded rather than zero output error. Thus modifications are suggested and tested that 1)incorporate feedforward into the reference model''s output as well as the plant''s output and 2)incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error and thus encourage further use of MRAC for more complex flexible robotic systems.

Paper Details

Date Published: 1 February 1991
PDF: 12 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25419
Show Author Affiliations
Rodrigo Steinvorth, Rensselaer Polytechnic Institute (United States)
Howard Kaufman, Rensselaer Polytechnic Institute (United States)
Gregory W. Neat, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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