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MRAS based LFFC for a Two – Link Rigid Robot Arm

Nguyen Duy Cuong and Tran Xuan Minh
Electronics Faculty, Thai Nguyen University of Technology, Thai Nguyen City, Viet Nam
Abstract-This paper introduces a systematic robust control structure that consists of a Proportional Derivative (PD) Controller and a Model Reference Adaptive Systems (MRAS) based Learning Feed - Forward Control (LFFC) for nonlinear Multi-Input-Multi-Output (MIMO) systems with variable parameters, and significant coupling in the system dynamics. The purpose of using MRAS-based LFFC is to acquire the (stable part of the) inverse dynamics of the plant. By using Lyapunov theory the adaptive algorithm that is shown in this study is quite simple in its form, robust and converges quickly. Since it captures the system dynamics, the proposed controller has superior capability in efficient learning mechanism and dynamic response. An application design of a two – link rigid robot arm is carried out to demonstrate the effectiveness and robustness of the proposed control method.

Index Terms-model reference adaptive systems (MRAS), learning feed–forward control (LFFC), multi-input-multi-output (MIMO) systems, two–link robot arm

Cite: Nguyen Duy Cuong and Tran Xuan Minh, "MRAS based LFFC for a Two–Link Rigid Robot Arm," Jounal of Automation and Control Engineering, Vol. 3, No. 3, pp. 208-214, June, 2015. doi: 10.12720/joace.3.3.208-214
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