TY - GEN
T1 - Real-Time Model Reference Adaptive Control of a 3DOF Robot Arm
AU - Ventura-Hinostroza, Hubert
AU - Rojas-Moreno, Arturo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
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.
UR - http://www.scopus.com/inward/record.url?scp=85073560789&partnerID=8YFLogxK
U2 - 10.1109/INTERCON.2019.8853622
DO - 10.1109/INTERCON.2019.8853622
M3 - Conference contribution
AN - SCOPUS:85073560789
T3 - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
BT - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Y2 - 12 August 2019 through 14 August 2019
ER -