ADAPTIVE CONTROL USED IN TWO LINKS OF A ELECTROMECHANICAL ROBOT OF FOUR DEGREE FREEDOM

Resumo

This work aims to design adaptive controllers to control the position of two links of an
electromechanical robot with four degrees of freedom (4 GDL). The control is performed through simulation,
using models of the links obtained with real system data, through parameter estimation using the recursive least
squares algorithm (MQR). The link identification is carried out in an open loop, using real data collected from
the robot. Adaptive controllers are designed and implemented via the imposition of poles to control the position
of the two links. The controllers are designed in closed loop based on the models obtained for the links. The
control strategy to be used is based on an explicit model of the system. The controllers are implemented through
a computer program. The excitation and output curves of the two links are shown, and as a result the output
curves of the models of the two links, in open loop and the output curves of the links under the action of the
adaptive controllers, in closed loop, are shown too.