Abstract
In this paper, the control of structural response and rigid body motion is formulated adopting an adaptive control algorithm which renews optimal control gain while estimating parameters of the system with recursive least squares algorithm. Comparisons of control results with optimal control are made. With respect to regulation and tracking control of a flexible experimental model, simulations and experiments are performed. The rigid body motion and elastic response are more successfully controlled by adaptive control than optimal control. In adaptive control, the initial values of feedback gain and estimated parameters of the system, which are improved during the course of control, are set up to optimal control gain, that is, the best estimated values at the start of control, so that the transient response and elastic deformation are well deteriorated.
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