Boundary control of a flexible cable with actuator dynamics

H. Canbolat; D. Dawson; C. Rahn; S. Nagarkatti

doi:10.1109/acc.1997.609480

Boundary control of a flexible cable with actuator dynamics

H. Canbolat, D. Dawson, C. Rahn, S. Nagarkatti

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

In this paper, we develop boundary controllers for a flexible cable with actuator dynamics at the boundary. Specifically, we develop an exact model knowledge controller which exponentially stabilizes the position of the cable and an adaptive controller which asymptotically stabilizes the position of the cable while compensating for parametric uncertainty. The performance of the controllers is illustrated via experimental results.

Original language	English (US)
Pages (from-to)	3547-3551
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	6
DOIs	https://doi.org/10.1109/acc.1997.609480
State	Published - Jan 1 1997
Event	Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: Jun 4 1997 → Jun 6 1997

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

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10.1109/acc.1997.609480

Cite this

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title = "Boundary control of a flexible cable with actuator dynamics",

abstract = "In this paper, we develop boundary controllers for a flexible cable with actuator dynamics at the boundary. Specifically, we develop an exact model knowledge controller which exponentially stabilizes the position of the cable and an adaptive controller which asymptotically stabilizes the position of the cable while compensating for parametric uncertainty. The performance of the controllers is illustrated via experimental results.",

author = "H. Canbolat and D. Dawson and C. Rahn and S. Nagarkatti",

year = "1997",

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doi = "10.1109/acc.1997.609480",

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note = "Proceedings of the 1997 American Control Conference. Part 3 (of 6) ; Conference date: 04-06-1997 Through 06-06-1997",

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AU - Canbolat, H.

AU - Dawson, D.

AU - Rahn, C.

AU - Nagarkatti, S.

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Y1 - 1997/1/1

N2 - In this paper, we develop boundary controllers for a flexible cable with actuator dynamics at the boundary. Specifically, we develop an exact model knowledge controller which exponentially stabilizes the position of the cable and an adaptive controller which asymptotically stabilizes the position of the cable while compensating for parametric uncertainty. The performance of the controllers is illustrated via experimental results.

AB - In this paper, we develop boundary controllers for a flexible cable with actuator dynamics at the boundary. Specifically, we develop an exact model knowledge controller which exponentially stabilizes the position of the cable and an adaptive controller which asymptotically stabilizes the position of the cable while compensating for parametric uncertainty. The performance of the controllers is illustrated via experimental results.

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DO - 10.1109/acc.1997.609480

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SN - 0743-1619

VL - 6

SP - 3547

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JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1997 American Control Conference. Part 3 (of 6)

Y2 - 4 June 1997 through 6 June 1997

ER -

Boundary control of a flexible cable with actuator dynamics

Abstract

All Science Journal Classification (ASJC) codes

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