Model Reference Adaptive Control of a Cantilevered Flexible Beam
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概要
- 論文の詳細を見る
In this paper, model reference adaptive control of a cantilevered flexible beam with Kelvin-Voigt damping and unknown spatially varying coefficients is investigated. Any mechanically flexible robots/structures are inherently distributed parameter systems whose dynamics are described by partial, rather than ordinary, differential equations. Adaptation laws are derived by the Lyapunov redesign method on an infinite dimensional Hilbert space. To show the well-posedness of a coupled nonlinear system, combined state error and parameter estimation error equations are constructed as an initial value problem of an infinite dimensional evolution equation in weak form. It is then shown through the Lyapunov redesign approach that the state error actually converges asymptotically to zero. With an additional persistence of excitation assumption, the parameter estimation errors are shown to converge to zero as well.
- 一般社団法人日本機械学会の論文
- 2003-06-15
著者
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HONG Keum-Shik
School of Mechanical Engineering, Pusan National University
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Yoo Wan-suk
School Of Mechanical Engineering Pusan National University
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Yang K‐j
Department Of Mechanical Engineering And Intelligent Systems University Of Electro-communications
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Hong K‐s
School Of Mechanical Engineering Pusan National University
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Hong Keum-shik
School Of Mechanical Engineering Pusan National University
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YANG Kyung-Jinn
School of Mechanical Engineering, Pusan National University
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MATSUNO Fumitoshi
Development of Computational Intelligence and Systems Science, Tokyo Institute of Technology
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Yoo Wan-Suk
School of Mechanical Engineering, Pusan National University
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