EXPERIMENTAL ONLINE FREQUENCY-DOMAIN IDENTIFICATION AND ADAPTIVE-CONTROL OF A FLEXIBLE SLEWING BEAM

This paper presents experimental results for the real-time adaptive id entification and control of a flexible, slewing beam. A frequency doma in identification algorithm incorporating non-parametric transfer func tion estimation and least squares parametric estimation is used to rec onstruct an accurate parametric model of the system, capable of accura tely tracking changing plant dynamics in real rime. This model is subs equently used to produce an LQG compensator which actively damps beam vibration caused by rapid slewing manoeuvres with large payload change s. Nonpersistent excitation is addressed in the content of identificat ion during nominal motion. It is shown that after a short duration lea rning period, the proposed identification scheme will yield a model wh ich is sufficiently accurate for controller synthesis.