Novel robust adaptive control for high performance field oriented control drives

2002 ◽  
Author(s):  
S.R. Bowes ◽  
Jian Li ◽  
D.P. Stoten
Keyword(s):  
Adaptive Control ◽  
High Performance ◽  
Robust Adaptive Control ◽  
Field Oriented Control ◽  
Robust Adaptive

Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 623-650 ◽  
Author(s):  
H. Yu
Keyword(s):  
Adaptive Control ◽  
High Performance ◽  
Robot Manipulators ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Variable Structure Systems ◽  
Control Approach ◽  
Robust Adaptive ◽  
And Control ◽  
Uncertainty Environment

The paper addresses the robust adaptive control problem of robot manipulators. The dynamic equations of robot manipulators and their fundamental properties that facilitate analysis and control system design are first reviewed. Then the direct, indirect, and combined direct and indirect adaptive control approaches of robot manipulators are presented. After that, a number of variable structure adaptive control approaches which combines features of the robust design based on variable structure systems with parameter adaptive control, are studied. After that, a new combined adaptive and variable structure adaptive control approach is proposed for the tracking control of robot manipulators under the uncertainty environment. This is a robust, high-performance adaptive control scheme that combines the advantages and overcomes the disadvantages of both types of techniques. Finally, the extensive comparing simulation results are presented to demonstrate the theory study.

scholarly journals A PI Controller with a Robust Adaptive Law for a Dielectric Electroactive Polymer Actuator

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1326
Author(s):  
Jakub Bernat ◽  
Jakub Kolota
Keyword(s):  
Adaptive Control ◽  
High Performance ◽  
Pi Controller ◽  
Robust Adaptive Control ◽  
Electroactive Polymer ◽  
Pole Placement ◽  
Placement Problem ◽  
Controller Gain ◽  
Polymer Actuator ◽  
Robust Adaptive

Dielectric electroactive polymer actuators are new important transducers in control system applications. The design of a high performance controller is a challenging task for these devices. In this work, a PI controller was studied for a dielectric electroactive polymer actuator. The pole placement problem for a closed-loop system with the PI controller was analyzed. The limitations of a PI controller in the pole placement problem are discussed. In this work, the analytic PI controller gain rules were obtained, and therefore extension to adaptive control is possible. To minimize the influence of unmodeled dynamics, the robust adaptive control law is applied. Furthermore, analysis of robust adaptive control was performed in a number of simulations and experiments.

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