Robust Adaptive Control of a Cantilevered Flexible Structure with Spatiotemporally Varying Coefficients and Bounded Disturbance
Robust Adaptive Control of a Cantilevered Flexible Structure with Spatiotemporally Varying Coefficients and Bounded Disturbance
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DOI：
10.1299/jsmec.47.812
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发表时间：
2004-09
期刊：
影响因子：
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通讯作者：
Kyung-Jinn Yang;K. Hong;F. Matsuno
中科院分区：
文献类型：
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作者：
Kyung-Jinn Yang;K. Hong;F. Matsuno
本文研究了具有未知时空变系数和干扰的悬臂柔性结构的鲁棒模型参考自适应控制问题。任何机械柔性机械臂/结构都是固有的分布参数系统，其动力学由偏微分方程描述，而不是由常微分方程描述。在无穷维Hilbert空间上，利用李雅普诺夫再设计方法，导出了鲁棒自适应控制律。在扰动一致有界的假设下，所提出的鲁棒自适应方案保证了闭环系统中所有信号的有界性和状态误差收敛于零。在激励持续条件下，参数估计误差也收敛到零附近。
In this paper, a robust model reference adaptive control of a cantilevered flexible structure with unknown spatiotemporally varying coefficients and disturbance is investigated. Any mechanically flexible manipulators/structures are inherently distributed parameter systems whose dynamics are described by partial, rather than ordinary, differential equations. Robust adaptive control laws are derived by the Lyapunov redesign method on an infinite dimensional Hilbert space. Under the assumption that disturbances are uniformly bounded, the proposed robust adaptive scheme guarantees the boundedness of all signals in the closed loop system and the convergence of the state error near to zero. With an additional persistence of excitation condition, the parameter estimation errors are shown to converge near to zero as well.