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Adaptive control is employed in control systems required to operate satisfactorily regardless of parameter variations, external disturbances and changes in the environment. A conceptually simple approach to adaptive control is the model reference approach which yields a nonlinear feedback system. In a model reference control system the system output is made to follow the output of a specified model. There are numerous approaches to the design of model reference adaptive control systems (MRAC). In this thesis the theory of variable structure systems (VSS) is studied and applied in the design of MRAC systems. VSS are inherently nonlinear feedback systems which exhibit certain adaptive properties including insensitivity to a range of parameter variations and certain external disturbances when operating in the sliding mode. The application of VSS theory to the problem of adaptive model-following has demonstrated the simplicity of the design. It also ensures the asymptotic stability of the controlled system and provides direct control over the error transient. The notion of system zeros arises naturally when tackling the problem of output model-following control systems. Certain interrelations between VSS, system zeros and the output model following problem have suggested a new method for computing the zeros of linear multivariable square systems. A fundamental operator in VSS is shown to be a projector. The employment of projector theory in the study of VSS provides further insight into their operation. Furthermore new methods for constructing the switching hyperplanes matrix are formulated by utilizing projector theory. The linear control law ensuring output model-following and the necessary order reduction is shown to be identical to the equivalent control encountered in VSS. The control law also decouples the system, assigns arbitrary poles and possesses certain adaptive properties. The extension of VSS theory to output model following systems using output information is also discussed.

This thesis presents investigations into dynamic modelling and control of a flexible manipulator system. The work on dynamic modelling involves finite element and symbolic manipulation techniques. The control strategies investigated include feedforward control using command shaping techniques and combined feedforward and feedback control schemes. A constrained planar single-link flexible manipulator is used as test and verification platform throughout this work. Dynamic model of a single-link flexible manipulator incorporating structural damping, hub inertia and payload is developed using the finite element method. Experiments are performed on a laboratory-scale single-link flexible manipulator with and without payload for verification of the developed dynamic model. Simulated and experimental system responses to a single-switch bang-bang torque input are presented in the time and frequency domains. Resonance frequencies of the system for the first three modes are identified. The performance and accuracy of the simulation algorithm are studied in comparison to the experimental results in both domains. The effects of damping and payload on the dynamic behaviour of the manipulator are addressed. Moreover, the impact of using higher number of elements is studied. The application of a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system is investigated. System transfer function can be retained in symbolic form using this approach and good approximation of the system transfer function can be obtained. Relationships between system characteristics and parameters such as payload and hub inertia are accordingly explored. Simulation and experimental exercises are presented to demonstrate the effectiveness of the symbolic approach in modelling and simulation of the flexible manipulator system. Simulation and experimental investigations into the development of feedforward control strategies based on command shaping techniques for vibration control of flexible manipulators are presented. The command shaping techniques using input shaping, low-pass and band-stop filters are considered. The command shaping techniques are designed based on the parameters of the system obtained using the unshaped bang-bang torque input. ii Abstract Performances of the techniques are evaluated in terms of level of vibration reduction, time response specifications, robustness to error in natural frequencies and processing times. The effect of using higher number of impulses and filter orders on the system performance is also investigated. Moreover, the effectiveness of the command shaping techniques in reducing vibrations due to inclusion of payload into the system is examined. A comparative assessment of the performance of the command shaping techniques in vibration reduction of the system is presented. The development of hybrid control schemes for input tracking and vibration suppression of flexible manipulators is presented. The hybrid control schemes based on collocated feedback controllers for rigid body motion control with non-collocated PID control and feedforward control for vibration suppression of the system are examined. The non-collocated PID control is designed utilising the end-point deflection (elastic deformation) feedback whereas feedforward control is designed using the input shaping technique. The developed hybrid schemes are tested within the simulation environment of the flexible manipulator with and without payload. The performances of the control schemes are evaluated in terms of input tracking capability and vibration suppression of the flexible manipulator. Initially, a collocated PD utilising the hub-angle and hub-velocity feedback signals is used as a feedback controller. Subsequently, to achieve uniform performance in the presence of a payload, a collocated adaptive control is designed based on pole-assignment self-tuning control scheme. Lastly, a comparative assessment of the performance of the hybrid control schemes is presented.

Variable Structure Control is a well-known solution to the problem of deterministic control of uncertain systems, since it is invariant to a class of parameter variations. A central feature of vsc is that of sliding motion, which occurs when the system state repeatedly crosses certain subspaces in the state space. These subspaces are known as sliding hyperplanes, and it is the design of these hyperplanes which is considered in this thesis. A popular method of hyperplane design is to specify eigenvalues in the left-hand half-plane for the reduced order equivalent system, and to design the control matrix to yield these eigenvalues. A more general design approach is to specify some region in the left-hand half-plane within which these eigenvalues must lie. Four regions are considered in this thesis, namely a disc, an infinite vertical strip, a sector and a region bounded by two intersecting sectors. The methods for placing the closed-loop eigenvalues within these regions all require the solution of a matrix Riccati equation : discrete or continuous, real or complex. The choice of the positive definite symmetric matrices in these Riccati equations affects the positioning of the eigenvalues within the region. suitable selection of these matrices will therefore lead to real or complex eigenvalues, as required, and will influence their position within the chosen region. The solution of the hyperplane design problem by a more general choice of the closed-loop eigenvalues lends itself to the minimization of the linear part of the control. A suitable choice of the position of the eigenvalues within the required region enables either the 2-norm of the linear part of the control, or the condition number of the linear feedback to be minimized. The choice of the range space eigenvalues may also be used, more effectively, in this minimization.

This thesis addresses some of the issues associated with linear systems subject to nonlinearities at their input, and considers robust control of high performance helicopters. In particular, the problems of substitution and saturation nonlinearities are discussed. In the case of the former, a new procedure based on ideas from optimal control is developed to help facilitate dynamic transfer between two linear controllers. For the latter, a generalisation of an existing scheme is made which allows asymptotic set-point tracking for all states belonging to a given subset of the state space. The closely related problem of limited authority control is considered and promising results are demonstrated on the Westland Lynx helicopter in a pilotted simulation. The thesis culminates with a discussion of the design and implementation of an Hinfinity controller for the Bell 205 helicopter. The results show that in flight, the helicopter attained good handling qualities ratings, even though the fidelity of some of the mathematical models was relatively low.

The aim of the work presented in this thesis is to investigate the feasibility of producing a low cost, 6 axis, Industrial Robot. The formulation of a design specification based on market trends is shown, and used as a starting point for formal design analysis. A robot conceptual design based on two, series coupled, triangular link mechanisms was devised, following a detailed analysis of various kinematic mechanisms. The purpose of the mechanisms analysis was to find a low cost, inherently stiff, means of driving the robot main axes; in particular, the shoulder and elbow joints. By adopting the novel concept of a hand and wrist mechanism, a "true 3 axes" wrist was devised. A unique feature of this is that the roll, pitch and yaw axes form an orthogonal set with the origin at the wrist point. Although emphasis is placed on the robot mechanical design, a Servo amplifier system, suitable for driving all 6 axes of the robot is presented, and recommendations for a position control system are given. Finally, costs relating to the robot mechanical system, Servo amplifier system and Position control system were investigated. The variation in cost with robot volume is shown for each of the 3 systems. This indicates that a manufacturing cost of E9000 per robot can be achieved providing at least 150 robots are produced.

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