Experimental Comparison of Model-Free Nonlinear Controllers on a 4-Degrees-Of-Freedom SCARA Robot

https://doi.org/10.58571/CNCA.AMCA.2024.083

Resumen: This paper presents the construction of an experimental platform consisting of a 4-degrees-of-freedom SCARA robot. The proposed platform is designed to quickly test nonlinear controllers experimentally. The code is written in C++, which is both flexible and efficient, resulting in a 2 ms sample time for the closed-loop controller. Additionally, a model-free adaptive controller is proposed in this work, which uses the direct kinematics of the robot to construct a pseudo-regressor. The proposed approach demonstrated superior performance when compared experimentally with two other model-free controllers and a classical modelbased adaptive controller.

¿Cómo citar?

De La Paz, C., Gutierrez Giles, A. & Cruz Vega, I.(2024). Experimental Comparison of Model-Free Nonlinear Controllers on a 4-Degrees-Of-Freedom SCARA Robot. Memorias del Congreso Nacional de Control Automático 2024, pp. 487-492. https://doi.org/10.58571/CNCA.AMCA.2024.083

Palabras clave

Robotic manipulators, control applications, SCARA robot, nonlinear control, PID control, adaptative control, artificial neural network, model-free control

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