ADAPTIVE GPC CONTROL OF A PLANAR MANIPULATOR

Gustavo de Sá Ferreira¹; Paulo Henrique de Miranda Montenegro¹; José Antônio Riul²

¹ Universidade Federal da Paraíba (UFPB); ² UFPB

doi:10.20906/CPS/COB-2015-2630

Resumo

This work aims the development and implementation of the generalized predictive control (GPC) adaptive in a robot planar manipulator with two degrees of freedom (2GDL) composed of a rotational link and other prismatic. The rotational link structure has as large U-channel made of aluminum having as actuator a direct current motor, and sensing as a potentiometer ten turns, acting as angular position transducer. The prismatic link is a double-acting pneumatic cylinder, and it is fixed inside the rotational link, having as actuator a 5/3-way electro-pneumatic proportional valve, and as sensing potentiometric rule, which acts as linear position transducer. Obtaining a representative mathematical model of the robot will be through the estimator of recursive least squares (RLS). Simulation results are obtained.

Palavras-chave: Identification in real time; adaptive controller; position control