A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties
Joint Authors
Moreno-Valenzuela, J.
Aguilar-Avelar, Carlos
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-01-15
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In this paper, a model reference adaptive control (MRAC) principle for a one-degree-of-freedom rigid-link electrically driven robot is presented.
The proposed control methodology addresses the problem of trajectory tracking with parameter uncertainties in the dynamic model of the system and proposes adaptation laws for the electrical and mechanical parameters.
Closed-loop stability is rigorously discussed, proving that the tracking error trajectories converge to the origin exponentially.
With the aim of performing experimental comparisons, two control schemes are also revisited theoretically and experimentally: one is an algorithm previously reported in the literature and the other is an adaptive controller derived under the assumption that the electrical dynamics of the actuator are negligible.
All the discussed controllers have been implemented in an experimental setup consisting in a rigid-link robot actuated with brushed DC motor.
The comparison indicates that better results are obtained with the new MRAC scheme.
American Psychological Association (APA)
Aguilar-Avelar, Carlos& Moreno-Valenzuela, J.. 2017. A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties. Complexity،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1143673
Modern Language Association (MLA)
Aguilar-Avelar, Carlos& Moreno-Valenzuela, J.. A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties. Complexity No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1143673
American Medical Association (AMA)
Aguilar-Avelar, Carlos& Moreno-Valenzuela, J.. A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties. Complexity. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1143673
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1143673