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.
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July 2002
Technical Papers
Adaptive Boundary Control of an Axially Moving String System
Rong-Fong Fung, Professor,,
Rong-Fong Fung, Professor,
Department of Mechanical and Automation Engineering, National Kaohsiung First University of Science and Technology, University Road, Yuanchau, Kaohsiung, Taiwan 824, ROC
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Jinn-Wen Wu, Professor,,
Jinn-Wen Wu, Professor,
Department of Mathematics
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Pai-Yat Lu, Graduate Student,
Pai-Yat Lu, Graduate Student,
Department of Mechanical Engineering, Chung Yuan Christian University, Chung-Li, Taiwan 320, ROC
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Rong-Fong Fung, Professor,
Department of Mechanical and Automation Engineering, National Kaohsiung First University of Science and Technology, University Road, Yuanchau, Kaohsiung, Taiwan 824, ROC
Jinn-Wen Wu, Professor,
Department of Mathematics
Pai-Yat Lu, Graduate Student,
Department of Mechanical Engineering, Chung Yuan Christian University, Chung-Li, Taiwan 320, ROC
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.
J. Vib. Acoust. Jul 2002, 124(3): 435-440 (6 pages)
Published Online: June 12, 2002
Article history
Received:
May 1, 2000
Revised:
February 1, 2002
Online:
June 12, 2002
Citation
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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