IJCAS

This paper addresses the issue of position control of a chain of multiple mass-spring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive output feedback controllers to control the position of a CMMSD system. The proposed controllers rely on the measurements of the input (force) and the output ( position of the mass unit at the end of the chain) of the system without the knowledge of its parameters and internal states. Simulations are used to verify the effectiveness of the controllers

Keywords: Adaptive control, output feedback, position control, robotics.