Our group has already studied a position control system for flexible link robot arms. The control law of this method is natural extension from the computed torque method for a rigid link robot arm. It is not limited within operating range which can be regarded as a linear system. In addition, it does not require a switching like an input used in a sliding mode control. However, we need to consider the modeling error because this method uses the model based control. In this paper, we propose a new position control of 2DOF flexible link robot arms based on computed torque method. In addition, we theoretically investigate the stability of the proposed method. Moreover, we propose a simple adaptive identification method in order to decrease the modeling error. The validity of the proposed scheme is illustrated by the theoretical analysis and experimental results.
A model reference adaptive control system (MRACS) based on dynamic certainty equivalence (DyCE) principle taking into consideration realization of high order tuner (HOT) is proposed. In conventional scheme using DyCE principle and HOT, the knowledge of upper bound of high frequency gain of controlled object was needed for stable MRACS. However, it is generally difficult to get exactly such a knowledge a priori and its conservative estimate often leads to numerical instability in realizing HOT. In this paper, the problem is solved by introducing a projection type of HOT and an adaptive control law with division. Stability proof of the proposed MRACS is given and its validity is verified by simple numerical simulations.
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