MRAC Control System for Robotic Arm in the Manipulation of Variable Loads (#2406)

Authors

Quispe De La Cruz, Franky Valentino De Vitto

Diaz Huaringa, Alexis Abelardo

Santa Cruz Espinoza, Robinson Daniel

Hilario Nieto, Jorge Augusto

Abstract

This work explores the application of Model Reference Adaptive Control (MRAC) to the design of a robotic arm capable of carrying loads of varying weights. The objective is to develop a control strategy that ensures the robotic arm can adapt to different load conditions while maintaining stable and accurate performance. The MRAC controller is designed to adjust its parameters in real-time based on the error between the system’s actual output and a reference model, which represents the desired behavior of the arm. The system is modeled in the state-space domain, and the MRAC controller is implemented and tested in MATLAB. A comparison is made between the MRAC controller and a conventional control approach, which struggles with handling varying loads. The results show that the MRAC controller significantly improves the robotic arm’s ability to carry different weights, offering superior performance in terms of stability, adaptability, and accuracy under dynamic conditions.