Adaptive Minimum Uncertainty Control for aFlexible Link Manipulator: Experimental Studies
George Stathopoulos, Department of Electrical and Computer Engineering,University of Patras, Patras, 26500 Greece
Abstract The development of an adaptive controller for a exible link manipulator is the subject of this article. The system's measurements are assumedto be corrupted with noise of a priori known bounds. A Set MembershipIdentier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector'sbounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control eort, the induced uncertainty on the system output, and the tracking error. The scheme is applied in experimentalstudies on planar single exible-link manipulator.
Johan Suykens has been awarded an ERC Advanced Grant.
The ERC Project is entitled "A-DATADRIVE-B: Advanced Data-Driven Black-box modelling" and will in the coming 5 years considerably reinforce the research of OPTEC's working group 2 on Data Driven Modelling, which is led by Johan Suykens. More info can be found on http://www.kuleuven.be/research/erc/suykens.html
