A MRAC principle for a single-link electrically driven robot with parameter uncertainties
type: Item
instance of: scholarly article
title: A MRAC principle for a single-link electrically driven robot with parameter uncertainties
zbMATH Open document ID: 1367.93387
DOI: 10.1155/2017/9296012
author: Carlos Aguilar-Avelar
author: Javier Moreno-Valenzuela
published in: Complexity
publication date: 2017-08-03T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C41
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 93B51
zbMATH DE Number: 6756006
zbMATH Keywords: model reference adaptive control (MRAC)
zbMATH Keywords: rigid-link robot
zbMATH Keywords: closed-loop stability
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/9296012
OpenAlex ID: W2574777484
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Wikidata QID: Q59142963
DBLP publication ID: journals/complexity/Aguilar-AvelarM17
description: scientific article; zbMATH DE number 6756006