Robust and adaptive tracking control of a rigid link in a cross flow

Catalin F. Baicu, Christopher D. Rahn, Darren M. Dawson

4 Scopus citations


A theoretical model for a rigid link with drag loading is developed. A robust controller is designed to accurately track a desired angle trajectory, despite an unknown but bounded cross flow velocity. For the case where the cross flow velocity and link length are known, an adaptive controller is designed to provide asymptotic tracking. An approximate linear parameterization is used for the drag loading. Numerical simulations demonstrate the effectiveness of the proposed controllers for two desired trajectories.

Original languageEnglish (US)
Pages (from-to)2985-2989
Number of pages5
JournalProceedings of the American Control Conference
Publication statusPublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995


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