Mechanical Engineering Commons^™

Experimental Results Of A Model Reference Adaptive Control Approach On An Interconnected Uncertain Dynamical System, Kemberly Cespedes

USF Tampa Graduate Theses and Dissertations

The objective of this thesis is to show the experimental validation of recently proposed adaptive control architecture for uncertain dynamical systems. The experimental validation is conducted on a benchmark mechanical system setup composed of two carts, one actuated and one unactuated, physically interconnected through a spring.

Specifically, an approach has been recently proposed to stabilize an overall interconnected system in the presence of unknown physical interconnections as well as system uncertainties in the context of model reference adaptive control. This uncertain dynamical system consists of actuated and unactuated portions physically interconnected to each other. In addition, the previous work enforces …