TY - JOUR
T1 - A MRAC principle for a single-link electrically driven robot with parameter uncertainties
AU - Aguilar-Avelar, Carlos
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
© 2017 C. Aguilar-Avelar and J. Moreno-Valenzuela.
PY - 2017/1
Y1 - 2017/1
N2 - In this paper, amodel reference adaptive control (MRAC) principle for a one-degree-of-freedomrigid-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.
AB - In this paper, amodel reference adaptive control (MRAC) principle for a one-degree-of-freedomrigid-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.
UR - http://www.scopus.com/inward/record.url?scp=85029431146&partnerID=8YFLogxK
U2 - 10.1155/2017/9296012
DO - 10.1155/2017/9296012
M3 - Artículo
SN - 1076-2787
VL - 2017
JO - Complexity
JF - Complexity
M1 - 9296012
ER -