Adaptive sub-optimal explicit force control of a one link flexible manipulator

Joseph Borowiec, Anthony Tzes

Research output: Contribution to conferencePaperpeer-review

Abstract

An adaptive sub-optimal explicit force control scheme for a one link flexible manipulator is considered in this article. A discrete time linear quadratic cost functional is minimized, in a sub-optimal sense, during every digital-to-analog conversion and yields the feedback control effort. The control topology corresponds to explicit force control as the error between the reference and measured force at the tip of the flexible link is regulated. The dynamics are assumed to be unknown, and are recovered via an on-line recursive least squares algorithm. Effects related to implementing the finite cost horizon, control effort weighting, varying environment stiffness, and model order are investigated. Numerical simulations are included to demonstrate the effectiveness of the proposed method.

Original languageEnglish (US)
Pages159-166
Number of pages8
StatePublished - 1995
EventProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA
Duration: Nov 12 1995Nov 17 1995

Other

OtherProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition
CitySan Francisco, CA, USA
Period11/12/9511/17/95

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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