Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control

Authors:
Jonathan Becedas;Juan Ramón Trapero;Vicente Feliu;Hebertt Sira-Ramírez
Affiliations:
Department of Electricity, Electronics and Automation, Universidad de Castilla-La Mancha, Ciudad Real, Spain;Department of Management Science, Lancaster University, UK;Department of Electricity, Electronics and Automation, Universidad de Castilla-La Mancha, Ciudad Real, Spain;Centro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional, México City, DF, México
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
2009

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Abstract

In this paper, we propose a fast online closed-loop identification method combined with an output-feedback controller of the generalized proportional integral (GPI) type for the control of an uncertain flexible robotic arm with unknown mass at the tip, including a Coulomb friction term in the motor dynamics. A fast nonasymptotic algebraic identification method developed in continuous time is used to identify the unknown system parameter and update the designed certainty equivalence GPI controller. In order to verify this method, several informative simulations and experiments are shown.