Akademik Veri Yönetim Sistemi
AIAA Science and Technology (SciTech) Forum and Exposition, California, Amerika Birleşik Devletleri, 7 - 17 Ocak 2019, (Tam Metin Bildiri)
Model reference adaptive control is a powerful tool that has a capability to suppress the effect of system uncertainties for achieving a desired level of closed-loop system performance. Yet, for a wide array of applications including unmodeled dynamics such as coupled rigid body systems with flexible interconnection links, airplanes with high aspect ratio wings, and high speed vehicles with strong rigid body and flexible dynamics coupling, the closed-loop system stability with model reference adaptive control laws can be challenged. To this end, the authors have recently studied the stability interplay between a class of unmodeled dynamics and system uncertainties for model reference adaptive control laws, and proposed a robustifying term to relax the resulting interplay. The contribution of this paper is to present experimental results for the purpose of demonstrating the efficacy of this proposed term, where we use a benchmark mechanical system setup involving an inverted pendulum on a cart coupled with another cart through a spring in the presence of unknown frictions.