Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm

Hubert Ventura-Hinostroza; Arturo Rojas-Moreno

doi:10.1109/INTERCON.2019.8853622

Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm

Hubert Ventura-Hinostroza, Arturo Rojas-Moreno

Department of Electrical and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

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.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728136462
DOIs	https://doi.org/10.1109/INTERCON.2019.8853622
State	Published - Aug 2019
Event	26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019 - Lima, Peru Duration: 12 Aug 2019 → 14 Aug 2019

Publication series

Name	Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019

Conference

Conference	26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Country/Territory	Peru
City	Lima
Period	12/08/19 → 14/08/19

Access to Document

10.1109/INTERCON.2019.8853622

Cite this

Ventura-Hinostroza, H., & Rojas-Moreno, A. (2019). Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm. In Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019 Article 8853622 (Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INTERCON.2019.8853622

Ventura-Hinostroza, Hubert ; Rojas-Moreno, Arturo. / Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm. Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019).

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title = "Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm",

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.",

author = "Hubert Ventura-Hinostroza and Arturo Rojas-Moreno",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019 ; Conference date: 12-08-2019 Through 14-08-2019",

year = "2019",

month = aug,

doi = "10.1109/INTERCON.2019.8853622",

language = "English",

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Ventura-Hinostroza, H & Rojas-Moreno, A 2019, Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm. in Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019., 8853622, Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019, Institute of Electrical and Electronics Engineers Inc., 26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019, Lima, Peru, 12/08/19. https://doi.org/10.1109/INTERCON.2019.8853622

Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm. / Ventura-Hinostroza, Hubert; Rojas-Moreno, Arturo.
Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8853622 (Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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BT - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019

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Y2 - 12 August 2019 through 14 August 2019

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Ventura-Hinostroza H, Rojas-Moreno A. Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm. In Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8853622. (Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019). doi: 10.1109/INTERCON.2019.8853622

Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm

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