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Adaptive Fuzzy Control of a Direct Drive Motor: Experimental AspectsThis paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is experimentally verified. The real-time performance is compared with simulation results.
Document ID
20000032290
Acquisition Source
Headquarters
Document Type
Conference Paper
Authors
Medina, E.
(New Mexico Univ. Albuquerque, NM United States)
Akbarzadeh-T, M.-R.
(New Mexico Univ. Albuquerque, NM United States)
Kim, Y. T.
(New Mexico Univ. Albuquerque, NM United States)
Date Acquired
August 19, 2013
Publication Date
February 22, 1998
Publication Information
Publication: NASA University Research Centers Technical Advances in Aeronautics, Space Sciences and Technology, Earth Systems Sciences, Global Hydrology, and Education
Volume: 2 and 3
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
98URC044
Funding Number(s)
CONTRACT_GRANT: NCCW-87
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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