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

Hubert Ventura-Hinostroza, Arturo Rojas-Moreno

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728136462
DOI
EstadoPublicada - ago. 2019
Evento26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019 - Lima, Perú
Duración: 12 ago. 201914 ago. 2019

Serie de la publicación

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

Conferencia

Conferencia26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
País/TerritorioPerú
CiudadLima
Período12/08/1914/08/19

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