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An adaptive control design for a system with unknown control direction: Experimental results

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2 Author(s)
Topp, E.J. ; Weapons & Syst. Eng. Dept., U.S. Naval Acad., Annapolis, MD, USA ; Feemster, M.

In this paper, experimental results for a singularity-free control algorithm capable of adapting for unknown control direction is presented. Specifically, the adaptive control design is implemented on a simple DC motor/inertial load system where the influence of the voltage control input is uncertain. Specifically, the controller is not sure whether a positive/negative torque is produced when a positive command voltage is applied. As a result, the armature winding connections can be reversed and the rotor velocity control objective tracking can still be achieved without additional hardware modification.

Published in:

System Theory (SSST), 2010 42nd Southeastern Symposium on

Date of Conference:

7-9 March 2010