A simple redesign of adaptive control for flexible arms by finite dimensional controllers

A simple design method of adaptive control for flexible arms is considered in the present manuscript. Control schemes of flexible arms are mixed parameter systems composed of distributed parameter systems of hyperbolic type (flexible arms) and lumped parameter systems (motor control systems). It is shown that the finite dimensional adaptive control schemes are constructed without complicated control structures and without time-derivative of bending displacement of the arms, and that semi-global stability of the control system is assured.

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