Open-loop algebraic identification method for a DC motor

Mamani, G.; Becedas, Jonathan; Feliu-Batlle, Vicente; Sira‐Ramírez, Hebertt

doi:10.23919/ecc.2007.7068846

Cited by 18 publications

(15 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We can equate the corresponding coefficients of the closed-loop characteristic polynomial (11) with those of a desired second-order Hurwitz polynomial by using the following desired second-order polynomial expression: p(s) = (s +a) 2 = s 2 +2as +a 2 (12) where the parameter a represents the common location of the closed-loop poles. Identifying the corresponding terms of the Equations (11) and (12), the initial parameters k p0 and k v0 , which depend on the system parameters, may be uniquely obtained by computing the following expressions:…”

Section: Closed-loop Adaptive Pd Controllermentioning

confidence: 99%

See 1 more Smart Citation

Open‐ and closed‐loop algebraic identification method for adaptive control of DC motors

Mamani

Becedas

Feliu-Batlle

et al. 2009

Adaptive Control & Signal

Self Cite

View full text Add to dashboard Cite

In this article an adaptive position control scheme for a DC motor based on an on-line closed-loop continuous-time identification method is proposed. A fast, non-asymptotic, algebraic identification method is used to estimate the unknown system parameters and to update the controller. The method is suitable for simultaneously identifying both the viscous friction coefficient and the inertia of the motor. The adaptive controller and the identification algorithm have been verified by simulation and experiments.

show abstract

Section: Closed-loop Adaptive Pd Controllermentioning

confidence: 99%

“…They were developed in [9][10][11]. Recently, the algebraic method has been applied in [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Open‐ and closed‐loop algebraic identification method for adaptive control of DC motors

Mamani

Becedas

Feliu-Batlle

et al. 2009

Adaptive Control & Signal

Self Cite

View full text Add to dashboard Cite

show abstract

“…EXPERIMENTAL RESULTS . The parameters used for the torque control were estimated as done in Mamani et al (2007). They are: the product…”

Section: Generalized Proportional Integral Controllermentioning

confidence: 99%

“…The frame makes possible the stably and free rotation of the motor in the horizontal plane around the vertical axis of the platform. The parameter values A 2 and B 2 of the transfer function of the rigid arm DC motor in (21) were estimated with the method explained in Mamani et al (2007), and the values are: The sensor system is integrated by an encoder embedded in the motor which allows us to know the rigid arm position with a precision of 7 • 10 −5 [rad]. Fig.5 depicts photographs of the robot in an experiment of grasping and moving an object in real time.…”

Section: Experimental Setup Descriptionmentioning

confidence: 99%

Generalized Proportional Integral Control for a Robot with Flexible Finger Gripper

Becedas

Payo

Feliú

et al. 2008

IFAC Proceedings Volumes

Self Cite

View full text Add to dashboard Cite

“…In recent years, algebraic techniques have been developed for the fast, on line, reliable estimation, or identification, of system parameters, states, failures and input perturbations. The fundamentals of the approach, for the linear system case can be found in the works of Fliess and Sira-Ramírez [14][15][16], and one of the procedures for parameter identification of a DC Motor model was presented in [17].…”

Section: Introductionmentioning

confidence: 99%

Control of a DC motor using algebraic derivative estimation with real time experiments

2014

View full text Add to dashboard Cite

This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodol-ogy only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor's initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the deriva-tive estimation process does not require initial conditions or dependence between the sys-tem input and output, and the algorithm is computed online and in real time. The effectiveness of the proposed controller has been verified by means of computer simula-tions and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

show abstract

Open-loop algebraic identification method for a DC motor

Cited by 18 publications

References 5 publications

Open‐ and closed‐loop algebraic identification method for adaptive control of DC motors

Open‐ and closed‐loop algebraic identification method for adaptive control of DC motors

Generalized Proportional Integral Control for a Robot with Flexible Finger Gripper

Control of a DC motor using algebraic derivative estimation with real time experiments

Contact Info

Product

Resources

About