MRAS based LFFC for two link rigid robot arm,

This paper introduces a systematic robust control structure that consists of a Prportional Derivative (PD) Controller and a Model Reference. Adaptive Systems (MRAS) based Learning Feed -Forward Control (LFFC) for nonlinear Multi-Input-Multi -Output (MIMO) systems with variable parameters, and siisgnificant coupling in the system dynamics. The purpose of using MRAS-based LFFC is to acquire the (stable part of the) inverse dynamics of the plant. By using Lyapunov theory the adaptive algorithm that is shown in this study is quite simple in its form, robust and converges quickly. Since it captures the system dynamics, the proposed controller has superior capability in efficient learning mechanism and dynamic response. An application design of two-link rigid robot arm is carried out to demonstrate the effectiveness and robustness of the proposed control method