No abstract

A digital adaptive controller for a robotic manipulator with a sliding flexible link is presented. The most important feature of the controller is its capability to vary the order of the control law adaptively. This capability results from using a lattice filter for adaptive parameter estimation. The superiority of the variable-order adaptive controller to a fixed-order adaptive controller is demonstrated by numerical simulations in which the manipulator is represented by the nonlinear equations of motion for a finite-element model of the manipulator.