Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Model Reference Adaptive Control of a Flexible Structure

  • Yang, Kyung-Jinn (School of Mechanical Engineering Pusan National University) ;
  • Hong, Keum-Shik (School of Mechanical Engineering Pusan National University) ;
  • Rhee, Eun-Jun (School of Mechanical Engineering Pusan National University) ;
  • Yoo, Wan-Suk (School of Mechanical Engineering Pusan National University)
  • Published : 2001.10.01
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Abstract

In this paper, the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described by a partial, rather than ordinary, differential equation. The MRAC problem is formulated as an initial value problem of coupled partial and ordinary differential equations in weak form. The well-posedness of the initial value problem is proved. The control law is derived by using the Lyapunov redesign method on an infinite dimensional filbert space. Uniform asymptotic stability of the closed loop system is established, and asymptotic tracking, i. e., convergence of the state-error to zero, is obtained. With an additional persistence of excitation condition for the reference model, parameter-error convergence to zero is also shown. Numerical simulations are provided.

Keywords

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