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Model reference adaptive control of robots
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Steinvorth, Rodrigo |
| Copyright Year | 1991 |
| Description | This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load. |
| File Size | 2871340 |
| Page Count | 110 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930009188 |
| Archival Resource Key | ark:/13960/t0bw2cw2s |
| Language | English |
| Publisher Date | 1991-03-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Robot Arms Algorithms Robot Control Control Systems Design Model Reference Adaptive Control Control Stability Mathematical Models Computerized Simulation Loads Forces Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
