A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties

Carlos Aguilar-Avelar and Javier Moreno-Valenzuela

Complexity, 2017, vol. 2017, 1-13

Abstract:

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.

Date: 2017
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://downloads.hindawi.com/journals/8503/2017/9296012.pdf (application/pdf)
http://downloads.hindawi.com/journals/8503/2017/9296012.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:9296012

DOI: 10.1155/2017/9296012

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().