Abstract:
The problem of constructing model reference adaptive H∞ control for flexible arms preceded by unknown input nonlinearities such as dead-zone or backlash, is considered in...Show MoreMetadata
Abstract:
The problem of constructing model reference adaptive H∞ control for flexible arms preceded by unknown input nonlinearities such as dead-zone or backlash, is considered in this paper. Control schemes of flexible arms are mixed parameter systems composed of distributed parameter systems of hyperbolic type (flexible arms) and lumped parameter systems (motor control systems). An adaptive inverse model is introduced to estimate and compensate input nonlinearities. The stabilizing control signal is added to regulate the effect of spill-over terms, and it is derived as a solution of certain H∞ control problem where the residual part of the inverse model and the spill-over term are considered as external disturbances.
Published in: 2010 IEEE International Symposium on Intelligent Control
Date of Conference: 08-10 September 2010
Date Added to IEEE Xplore: 28 October 2010
ISBN Information: