NDLI: Adaptive Control of an Alignment System with Nonlinear Plant Characteristics

Content Provider	IEEE Xplore Digital Library
Author	Hill, D.A. Chand, S.
Copyright Year	1993
Description	Author affiliation: Rockwell International Science Center, CA (Hill, D.A.)
Abstract	This paper presents Model Reference Adaptive Control (MRAC) of a precision angular alignment system (small gimbaled mass) with nonlinear friction characteristics. Open loop frequency response tests yield a family of curves for different amplitude sweep generator inputs as seen in Fig. 1 giving the ratio of alignment angle output to amplifier input over frequency. These results are directly traced to nonlinear bearing friction. The goal of the control design is to regulate alignment errors to within 2 arcseconds of a given reference angle in the presence of variable friction parameters and torque disturbances. The adaptive controller is derived by considering a linearized 2nd order Plant, of relative degree 2, with variable parameters. The MRAC design is tested with nonlinear simulation using Boeing Computer Services EASY5/sup TM/.
Starting Page	58
Ending Page	64
File Size	518983
Page Count	7
File Format	PDF
DOI	10.1109/AEROCS.1993.720894
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Friction Limit-cycles Open loop systems Sensor phenomena and characterization DC motors Frequency response Error correction Adaptive control Testing
Content Type	Text
Resource Type	Article

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