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 language||English (US)|
|Number of pages||5|
|Journal||Proceedings of the American Control Conference|
|Publication status||Published - Jan 1 1995|
|Event||Proceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA|
Duration: Jun 21 1995 → Jun 23 1995