scholarly journals Real Time Self-Tuning Controller for Position Control of DC Motor System using Pole-Placement Technique

2016 ◽  
Vol 155 (3) ◽  
pp. 16-21
Author(s):  
Mohammad Tarik ◽  
Sara Basim ◽  
Allaa Zaki ◽  
Maher Algreer
Keyword(s):  
Real Time ◽  
Motor System ◽  
Position Control ◽  
Dc Motor ◽  
Pole Placement ◽  
Self Tuning ◽  
Placement Technique

scholarly journals Pole Placement Based State Feedback for DC Motor Position Control

2021 ◽  
Vol 1783 ◽  
pp. 012057
Author(s):  
Iswanto ◽  
Nia Maharani Raharja ◽  
Alfian Ma’arif ◽  
Yogi Ramadhan ◽  
Phisca Aditya Rosyady
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Dc Motor ◽  
Pole Placement

Joint Self-Tuning With Cartesian Setpoints

1986 ◽  
Vol 108 (2) ◽  
pp. 146-150 ◽  
Author(s):  
P. G. Backes ◽  
G. G. Leininger ◽  
Chun-Hsien Chung
Keyword(s):  
Real Time ◽  
Control Method ◽  
Hybrid Control ◽  
Pole Placement ◽  
Real Time Control ◽  
Time Control ◽  
Self Tuning ◽  
Cause Of Error ◽  
Time Position ◽  
Manipulator Control

A joint coordinate self-tuning manipulator control method is presented which uses Cartesian setpoints. The method is capable of both position and hybrid control. Position and force errors are transformed from Cartesian coordinates to position and force errors at the joints. The position and force errors at each joint are combined into one hybrid error that is eliminated using pole-placement self-tuning. Real time position and hybrid control results are given. No prior knowledge of manipulator or load dynamics is required and real time control results show that the goal of consistent control with changing load dynamics is achieved. The major cause of error in position and hybrid control is the large friction effects in the joints.

scholarly journals Real Time Position Control of PID and Fuzzy Logic Based DC Motor

2020 ◽  
pp. 900-916
Author(s):  
Kaplan KAPLAN ◽  
Melih KUNCAN ◽  
Halit POLAT ◽  
Burak TEPE ◽  
Hüseyin Metin ERTUNÇ
Keyword(s):  
Fuzzy Logic ◽  
Real Time ◽  
Position Control ◽  
Dc Motor ◽  
Time Position

Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload

1999 ◽  
Vol 121 (3) ◽  
pp. 457-461 ◽  
Author(s):  
Thurai Vinay ◽  
Bradley Postma ◽  
Theo Kangsanant
Keyword(s):  
Mobile Robots ◽  
Pole Placement ◽  
Nonlinear Controller ◽  
Wheeled Mobile Robots ◽  
Adaptive Controllers ◽  
Modeling And Control ◽  
Self Tuning ◽  
The Individual ◽  
And Control ◽  
Placement Technique

Lagrange formalism is applied to derive a dynamic model, and design a nonlinear controller for two nonholonomic, differentially steered, wheeled mobile robots compliantly linked to a common payload. The resulting multivariable system model is of a large order and can be block decoupled by selective state feedback into five independent subsystems, two of which effectively represent the deviation dynamics of the individual robots from a prescribed path; two others represent their forward motion dynamics; while the fifth describes the payload dynamics. Controllers for each of the robot subsystems, including self-tuning adaptive controllers for the nonlinear deviation dynamics subsystems, are designed by the pole-placement technique. System performance is then evaluated via simulation for the case where each robot is undergoing curvilinear motion.

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