Adaptive Tracking Control of Linear Uncertain Mechanical Systems Subjected to Unknown Sinusoidal Disturbances

[+] Author and Article Information
B. Xian, D. M. Dawson, Y. Fang

Department of Electrical and Computer Engineering, Robotics and Mechatronics Laboratory, Clemson University, Clemson, SC 29634-0915

N. Jalili

Department of Mechanical Engineering, Robotics and Mechatronics Laboratory, Clemson University, Clemson, SC 29634-0921e-mail: jalili@clemson.edu

J. Dyn. Sys., Meas., Control 125(1), 129-134 (Mar 10, 2003) (6 pages) doi:10.1115/1.1538624 History: Received October 01, 2001; Revised August 01, 2002; Online March 10, 2003
Copyright © 2003 by ASME
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Grahic Jump Location
a) Schematic and b) experimental setup of the SDOF mechanical system (M=1.7 kg, K=770 N/m, and C=12 kg/sec)
Grahic Jump Location
Simulation results for the regulation problem
Grahic Jump Location
Experimental results for the regulation problem
Grahic Jump Location
Experimental results for the tracking problem



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