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Model reference adaptive control of industrial robots with actuator dynamics

Stavrakakis Georgios, Tzafestas, S. G

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URI: http://purl.tuc.gr/dl/dias/3D0587DD-23EE-457D-BD6E-3995CE59B40B
Year 1989
Type of Item Peer-Reviewed Journal Publication
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Bibliographic Citation S.G. Tzafestas ,G. Stavrakakis," Model reference adaptive control of industrial robots with actuator dynamics,"J. of Inf. and Optimization Sc. ,vol. 10, no. 3, pp.423-444,Sept. 1989.doi: 10.1080/02522667.1989.10698978 https://doi.org/10.1080/02522667.1989.10698978
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Journal Publications in Community School of Electrical and Computer Engineering

Summary

In this work the complete nonlinear dynamic model of a robotic manipulator is considered together with its actuators' (dc motors' ) dynamics. A control law of the robotic system is developed based on the well known'model reference adaptive control: MRAC' approach. An exhaustive study of a decoupled reference model of the whole robotic system is proposed which possesses strong stability properties.The paper is completed by some simulation results on trajectory following control of a 3-link manipulator.

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