MODEL-REFERENCE ADAPTIVE INVERSE CONTROL OF A SINGLE LINK FLEXIBLE ROBOT

A new model reference adaptive inverse control algorithm is proposed f or the end point position control of flexible manipulators. This contr oller forms a series model reference adaptive system where an estimate d system inverse is placed in the feed forward path to provide an inve rse control through regulation of controller parameters. It differs fr om other model reference control strategies in that a signal synthesis loop is included to compensate for the estimation error of the invers e controller and the output tracking error, and to improve stability. The stability of the overall control system is shown to be guaranteed using hyperstability theory. The proposed control scheme is applied to control the tip position of a single link flexible robot. A non-dimen sionalized model is developed. Its zero-order hold equivalence in disc rete time domain is described by an auto-regressive and moving average form. A lattice filter is utilized as a deconvolution filter. The tim e-delay behavior from the driving torque to the robot tip position due to robot structural flexibility is investigated.