Title :
Implementation of direct adaptive control on 3-DOF spring-mass-damper system
Author :
Ozcelik, Selahattin ; McLauchlan, Robert ; Bhalareo, Amol ; Chaloo, Rajab
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., Kingsville, TX, USA
Abstract :
Position control of a 3-DOF spring-mass-damper system with parametric variations is considered. Direct model reference adaptive control with feedforward compensator is designed and implemented on the experimental setup. As seen from the results, the desired response was obtained in each case. Adaptive control was capable of handling the parametric variations and the changes in the system configurations.
Keywords :
compensation; damping; feedforward; model reference adaptive control systems; position control; 3 DOF spring-mass-damper system; direct adaptive control implementation; direct model reference adaptive controller; feedforward compensator; parametric variation; position control; system configuration; Adaptive control; Automatic control; Control systems; Mechanical engineering; Motion control; Position control; Programmable control; Robust control; Springs; Uncertainty;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244040
