Real-time implementation of a robust adaptive controller for a robotic manipulator based on digital signal processors

1999 ◽  
Vol 29 (2) ◽  
pp. 194-204 ◽  
Author(s):  
Sung-Hyun Han ◽  
Man-Hyung Lee ◽  
R.R. Mohler
Keyword(s):  
Real Time ◽  
Digital Signal ◽  
Adaptive Controller ◽  
Robotic Manipulator ◽  
Digital Signal Processors ◽  
Robust Adaptive ◽  
Signal Processors ◽  
Robust Adaptive Controller

scholarly journals Controlling a DC Motor through Lypaunov-like Functions and SAB Technique

2018 ◽  
Vol 8 (4) ◽  
pp. 2180
Author(s):  
Alejandro Rincón ◽  
Fabiola Angulo ◽  
Fredy Hoyos
Keyword(s):  
Digital Signal ◽  
Adaptive Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Adaptive Backstepping ◽  
Inertia Moment ◽  
Rapid Control ◽  
Rapid Control Prototyping ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

<p>In this paper, state adaptive backstepping and Lyapunov-like function methods are used to design a robust adaptive controller for a DC motor. The output to be controlled is the motor speed. It is assumed that the load torque and inertia moment exhibit unknown but bounded time-varying behavior, and that the measurement of the motor speed and motor current are corrupted by noise. The controller is implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform and experimental results agree with theory.</p>

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