Design of Model Reference Adaptive Control for a 4-DOF Serial Manipulator

Robotic manipulators are the most important components in the present manufacturing industry for handling materials and manipulation . It is important to note that these manipulators are used in the complex planar and spatial work spaces to perform the task .

Nonlinear control is one of the areas of control engineering that deals with nonlinear systems or variable systems with time or both. The main issue of non-linear control is how can use linear control techniques for nonlinear systems. Also, new control methods can be used which can’t be obtained by linear analysis.

Nonlinear controllers have more interesting features than a linear controller, such as speed boost, power reduction, and a simpler application. But nonlinear controllers require more sophisticated mathematical analysis.

Model Reference Adaptive Control is one of the nonlinear control methods. One of its design methods is the use of Lyapunov stability theory.

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https://ieeexplore.ieee.org/abstract/document/8735078