A Robust Scheme for Direct Adaptive Control of Flexible Arms

Presented at 1988 ASME Winter Annual Meeting, Nov. 27-Dec. 2. 1988, Published in proceedings volume: GOO463 Symposium on Robotics.

[1]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[2]  Gordon Greene Hastings,et al.  Controlling flexible manipulators, an experimental investigation , 1986 .

[3]  W. Book.  Recursive Lagrangian Dynamics of Flexible Manipulator Arms , 1984 .

[4]  B. Siciliano,et al.  Optimal output fast feedback in two-time scale control of flexible arms , 1986, 1986 25th IEEE Conference on Decision and Control.

[5]  G. Leitmann.  On the Efficacy of Nonlinear Control in Uncertain Linear Systems , 1981 .

[6]  P. Hughes,et al.  Space structure vibration modes: How many exist? Which ones are important? , 1984, IEEE Control Systems Magazine.

[7]  D. Kraft.  Nonlinear system analysis by direct collocation , 1987 .

[8]  B. Ross Barmish,et al.  Robustness of Luenberger Observers: Linear Systems Stabilized via Nonlinear Control , 1984, 1984 American Control Conference.

[9]  Mark J. Balas,et al.  Application of Model Reference Adaptive Control to a Flexible Remote Manipulator Arm , 1986, 1986 American Control Conference.

[10]  M. Balas,et al.  Feedback control of flexible systems , 1978 .

[11]  S. Gutman.  Uncertain dynamical systems--A Lyapunov min-max approach , 1979 .

[12]  A. Zinober,et al.  Adaptive Control: the Model Reference Approach , 1980 .

[13]  R. Nadira,et al.  Erratum: “A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators” (Journal of Dynamic Systems, Measurement, and Control, 1986, 108, pp. 198–205) , 1986 .

[14]  Fumitoshi Matsuno,et al.  Modeling and feedback control of a flexible arm , 1985, J. Field Robotics.

[15]  Wayne J. Book,et al.  Feedback control of two beam, two joint systems with distributed flexibility , 1975 .

[16]  Wayne J. Book,et al.  A linear dynamic model for flexible robotic manipulators , 1987 .

[17]  C. V. Hollot,et al.  Stabilizing Uncertain Systems: Recovering Full State Feedback Performance via an Observer , 1986, 1986 American Control Conference.

[18]  吉沢 太郎.  Stability theory by Liapunov's second method , 1966 .

[19]  Leonard Meirovitch,et al.  Elements Of Vibration Analysis , 1986 .