ROBUST ADAPTIVE CONTROLLER DESIGN FOR A ROBOT MANIPULATOR

Published 30 Apr 2020 •  vol 13  •  no 4  • 


Authors:

 

Ateunkeng Jean Gabain, Advanced Teacher’s Training College for Technical Education, University of Douala, 1872 Douala-Cameroon
Boum Alexandre, Advanced Teacher’s Training College for Technical Education, University of Douala, 1872 Douala-Cameroon

Abstract:

 

In this paper, a modify robust adaptive controller is designed to adapt the robot dynamics to the variation of the pay load it carries. This controller is based on the model reference approach and a robust term that introduces a PD linear control action to stabilize the error in the robot dynamics model. The combination of these controllers gives better results as the robot can carry different loads while maintaining stability in the robot dynamics. The stability of this controller was proven using lyapunov analyses. The designed controller was implemented in a 2-DOF Robot manipulator with a variable payload and simulated in MATLAB/SIMULINK which show its effectiveness and robustness.

Keywords:

 

Adaptive control, Robust Control, Robot manipulator, Model-Reference Adaptive Control System (MRACS), linear regression matrix, Adaptation law, Unknown parameters, Robustness, payload, unmodel dynamics, MATLAB/SIMULINK

References:

 

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Citations:

 

APA:
Gabain, A. J., & Alexandre, B. (2020). Robust Adaptive Controller Design for a Robot Manipulator. International Journal of Control and Automation (IJCA), ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, 13(4), 11-26. doi: 10.33832/ijca.2020.13.4.02.

MLA:
Gabain, Ateunkeng Jean, et al. “Robust Adaptive Controller Design for a Robot Manipulator.” International Journal of Control and Automation, ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, vol. 13, no. 4, 2020, pp. 11-26. IJCA, http://article.nadiapub.com/IJCA/vol13_no4/2.html.

IEEE:
[1] A. J. Gabain, and B. Alexandre, "The Educational Games Application Using Smartphone in Learning Mathematics for Elementary School Students." International Journal of Control and Automation (IJCA), ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, vol. 13, no. 4, pp. 11-26, Apr 2020.