Model-Free Adaptive Control for Elastic Rod Servoing: a Comparative Study

EasyChair Preprint no. 13200

Abstract

Model-free adaptive control (MFAC) has emerged as a promising approach for controlling complex systems where accurate models are difficult to obtain or computationally expensive. In this paper, we investigate the application of MFAC to the challenging problem of elastic rod servoing. We present a comparative study evaluating the performance of various MFAC algorithms in controlling the position of an elastic rod. The experimental setup involves simulating different control strategies and assessing their ability to track desired trajectories while accounting for uncertainties in the system dynamics. Our results demonstrate the effectiveness of MFAC in elastic rod servoing tasks and highlight the advantages and limitations of different MFAC techniques.

Keyphrases: comparative study, Elastic Rod Servoing, model free adaptive control, trajectory tracking, Uncertain systems

@Booklet{EasyChair:13200,
  author = {Wahaj Ahmed and Rossy Preston},
  title = {Model-Free Adaptive Control for Elastic Rod Servoing: a Comparative Study},
  howpublished = {EasyChair Preprint no. 13200},

  year = {EasyChair, 2024}}