Title :
An Adaptive Control Scheme for Oscillatory Servo Systems
Author :
Hong, Z.D. ; Zohdy, Mohamed A.
Author_Institution :
Center for Robotics and Advanced Automation, School of Engineering and Computer Science, Oakland University, Rochester, MI 48063.
Abstract :
The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.
Keywords :
Adaptive control; Filters; Linear systems; Resonance; Resonant frequency; Servomechanisms; Shafts; Stability; Torque; Transfer functions;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.1985.350139
