Real–Time Model Reference Adaptive Control of a 3DOF Robot Arm

Abstract

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.