Adaptive Position Control with Using a Smooth Projection Adaptation Law for 2 DOF Flexible Link Robot Arm

摘要

We have already proposed high order tuner (HOT) which uses a smooth projection algorithm to ensure the positive definiteness of an estimated inertia matrix for realizing a stability and a good transient response of adaptive tracking control system based on for a rigid link robot arm. Also, we proposed a HOT capable to constrain adjustable parameters into hyper-parallelogram region. In this paper, an adaptive control scheme for a 2 DOF flexible link robot arm is proposed. The controller is composed of an adaptation law using smooth projection algorithm and a control law based on dynamic certainty equivalent principle. The effectiveness of the proposed scheme is illustrated by a theoretical analysis and simple numerical simulation results.