Boundary control for a general class of non-linear string-actuator systems

This paper introduces boundary controllers for a general class of non-linea r string-actuator systems. The non-linear distributed-parameter model accou nts for large amplitude displacement and the associated varying tension acc ording to a general class of non-linear stress-strain relationships. A non- linear, model-based controller asymptotically drives the system energy to z ero. Redesign of the controller using adaptation laws allows compensation f or parametric uncertainty while asymptotically driving the system energy to zero. Experimental results verify the feasibility of implementing the prop osed controllers and compare the performance with damper and linear control lers. (C) 2000 Academic Press.