Hybrid adaptive control of two-link flexible manipulators grasping a payload

Abstract

The hybrid adaptive control algorithms used for flexible manipulators are presented. The advantages of the hybrid adaptive control against the pure continuous-time adaptive control or discrete-time adaptive control are also discussed. From a practical standpoint, the infrequent adjustment of the control parameters makes for more robust adaptive control while from a theoretical point of view, the algorithms are attractive since they provide a unified framework for the design of hybrid adaptive systems. The hybrid adaptive controllers also do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Simulation results are given to illustrate the proposed hybrid adaptive control strategies.

A hybrid adaptive control for flight simulator turn table

“…In the past few years, several continuous and discrete adaptive algorithms have been developed for the stable identification and control of the linear time-invariant minimum phase plants with unknown parameters [4], [5]. From a practical standpoint, continuous adaptive algorithms suffer from a lack of robustness since the control parameters are continuously adjusted, using an adaptive law involving pure integration [6].…”