A DSP-based adaptive controller for robotic control application

The development and implementation of digital controllers for position control of a DC motor using the digital signal processor (DSP) chip TMS320E15 has provided encouraging results. Real-time position control of the DC motor was investigated by using the controllers with a shaft encoder. Experimental results show that the system responses are good and are as expected theoretically. Adaptive control has become a viable alternative for controlling electromechanical systems. The adaptive control system provides the desired performance throughout the life of the mechanism. Furthermore, reliability is enhanced since the system meets the expected performance in spite of aging