A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties
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...
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2017/9296012 |
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| author | Carlos Aguilar-Avelar Javier Moreno-Valenzuela |
| author_facet | Carlos Aguilar-Avelar Javier Moreno-Valenzuela |
| author_sort | Carlos Aguilar-Avelar |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f755e89d82d149cb87726e40605c57ac |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-f755e89d82d149cb87726e40605c57ac2025-02-03T06:11:37ZengWileyComplexity1076-27871099-05262017-01-01201710.1155/2017/92960129296012A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter UncertaintiesCarlos Aguilar-Avelar0Javier Moreno-Valenzuela1Instituto Politécnico Nacional-CITEDI, Ave. Instituto Politécnico Nacional 1310, Nueva Tijuana, 22435 Tijuana, BC, MexicoInstituto Politécnico Nacional-CITEDI, Ave. Instituto Politécnico Nacional 1310, Nueva Tijuana, 22435 Tijuana, BC, MexicoIn 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.http://dx.doi.org/10.1155/2017/9296012 |
| spellingShingle | Carlos Aguilar-Avelar Javier Moreno-Valenzuela A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties Complexity |
| title | A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties |
| title_full | A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties |
| title_fullStr | A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties |
| title_full_unstemmed | A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties |
| title_short | A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties |
| title_sort | mrac principle for a single link electrically driven robot with parameter uncertainties |
| url | http://dx.doi.org/10.1155/2017/9296012 |
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