A MRAC principle for a single-link electrically driven robot with parameter uncertainties

DOI10.1155/2017/9296012MaRDI QIDQ2012862zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Carlos Aguilar-Avelar, Javier Moreno-Valenzuela

Publication date 3 August 2017

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/9296012

zbMATH Keywords

closed-loop stabilitymodel reference adaptive control (MRAC)rigid-link robot

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cites work

• scientific article; zbMATH DE number 47864 (Why is no real title available?)
• Bifurcations of travelling wave solutions for the combined KdV-MKd equation
• Lyapunov design of multivariable MRAC via generalized passivation
• Model reference adaptive control for robotic manipulators without velocity measurements
• Performance enhanced model reference adaptive control through switching non-quadratic Lyapunov functions
• Repetitive control of electrically driven robot manipulators
• Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
• Robustness of model-reference adaptive control systems with unmodelled dynamics
• Tracking control of rigid-link electrically – driven robot manipulators
• Two-stage control design of a buck converter/DC motor system without velocity measurements via a \(\Sigma\)-\(\delta\)-modulator

Cited in

(2)

• Lyapunov stability analysis of a robust model reference adaptive PI controller for systems with matched and unmatched dynamics
• Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation

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