Adaptive nonlinear boundary control of a flexible link robot arm

In this paper, we consider the problem of designing a boundary controller f or a flexible link robot arm with a payload mass at the link's free-end. Sp ecifically, we utilize a nonlinear, hybrid dynamic system model (the model is hybrid in the sense that it is comprised of a distributed parameter, dyn amic field equation coupled to discrete, dynamic boundary equations) to des ign a model-based control law which asymptotically stabilizes the link disp lacement while driving the actuator hub's position to a desired setpoint. W e then illustrate how the control law can be redesigned as an adaptive cont roller which achieves the same control objective while compensating for par ametric uncertainty including unknown payload mass. The control strategy is composed of a boundary control torque applied to the actuator hub and a bo undary control force at the link's free-end. Experimental results are prese nted to illustrate the performance of the proposed control laws.