ADAPTIVE-CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR WITH UNKNOWN LOAD

A new adaptive control scheme for the tip position control of a single-link flexible manipulator handling unknown loads and its experimental as well as simulative verification are presented here. The scheme essentially comprises a least-squares identification algorithm and a self-tuning pole placement controller. A novel recursive control algorithm with parameter estimate resetting is developed to eliminate a 'ring effect' transient during load release. A performance comparison of the new adaptive controller with a constant-gain pole placement controller as well as a standard self-tuning pole placement controller clearly demonstrates its superior ability in handling load changes in quiescent states. Simulation results also demonstrate that the new control scheme enables the load changes to be carried out in an active state without creating any transients.