Title
Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm
Date Issued
01 August 2019
Access level
metadata only access
Resource Type
conference paper
Author(s)
Ventura-Hinostroza H.
Publisher(s)
Institute of Electrical and Electronics Engineers Inc.
Abstract
This paper implements a real-time MIMO (Multiple Input Multiple Output) MRAC (Model Reference Adaptive Controller) to make the angular positions of an articulated 3DOF (3 Degrees of Freedom) robot arm follow arbitrary reference inputs meeting the design specifications previously established. The design of the MRAC requires the linear state-space representation of the MIMO nonlinear model of the robot arm.
Language
English
OCDE Knowledge area
Robótica, Control automático
Scopus EID
2-s2.0-85073560789
Source
Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
ISBN of the container
9781728136462
Conference
26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Sources of information:
Directorio de Producción Científica
Scopus