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On the Adaptive Control of Mechanical Systems With Time-Varying Parameters and Disturbances

[+] Author Affiliations
Prabhakar R. Pagilla, Yongliang Zhu

Oklahoma State University, Stillwater, OK

Paper No. IMECE2002-33421, pp. 109-117; 9 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


In this paper, we propose and investigate a new adaptive control algorithm for mechanical systems with time-varying parameters and/or time-varying disturbances. The proposed method does not assume any structure to the time-varying parameter or disturbance. The idea is based on the expansion of the time-varying parameter/disturbance using the Taylor series expansion; this facilitates expanding a time-varying function as a finite length polynomial and a bounded residue; the coefficients of the finite length polynomial are estimated in a time interval small enough so that they can be assumed to be constant within that interval. A novel experiment is designed using a two-link mechanical manipulator to investigate the proposed algorithm experimentally. Simulation and experimental results validate the proposed new adaptive control algorithm; we discuss these results and also give some future research directions.

Copyright © 2002 by ASME



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