Simulation of the Local Model Reference Adaptive Control of the Robotic Arm with D.C. Motor Drive

Abstract

Adaptive controllers are used for plants with unknown or time varying parameters. The robotic arm is a classical case of plant with unknown parameters because the load modifies in time. Using the Lyapunov theory for the parameters adaptation law assures the global stability and robustness of the system and superior performances in presence of the disturbance or in case of plant parameters changes. An alternative to global control of the robot is the local compensation of the load and interdependencies for every arm, which means a D.C. motor adaptive control problem. The paper presents the design of the local adaptive control of the robotic arm driven by a D.C. motor using Lyapunov stability theory. The globally model of the designed system is implemented in Matlab Simulink and simulated to different references.