The application of model reference adaptive control (MRAC) for a RLED robot is introduced in this document.
The main contributions of this document are the inclusion of the electrical dynamics of the actuator in the control law and the problem of parametric uncertainties, which are considered in a united form, in addition to the design and analysis of a new adaptive control algorithm for the trajectory-tracking control of a 1-DOF RLED robot.
The new MRAC scheme and the others are tested in real time in an experimental platform consisting in a 1-DOF RLED robot which is affected by gravitational force.
This paper is organized as follows: Section 2 is devoted to summarizing the RLED robot dynamic model.
The dynamic model of a 1-DOF RLED robot actuated by a brushed DC motor is presented as in  and is written as