This paper proposes an adaptive boundary control to an axially moving string system, which couples with a mass-damper-spring (MDS) controller at its right-hand-side (RHS) boundary. Unknown parameters appearing in the system equation are assumed constant and estimated on-line by using adaptation laws. The adaptive computed-torque control algorithm applied to robot manipulators of lumped systems is extended to design the adaptive boundary controller for the coupling system. It is found that the control force and update laws depend only on the displacement, velocity and slope of the string at the RHS boundary. Lyapunov stability guarantees the convergence of the tracking error to zero. Finally, the performance of the proposed controller is demonstrated by numerical simulations.
Adaptive Boundary Control of an Axially Moving String System
Contributed by the Technical Committee on Vibration and Sound for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received May 2000; Revised Feb. 2002. Associate Editor: B. Yang.
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Fung, R., Wu, J., and Lu, P. (June 12, 2002). "Adaptive Boundary Control of an Axially Moving String System ." ASME. J. Vib. Acoust. July 2002; 124(3): 435–440. https://doi.org/10.1115/1.1476381
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