Hybrid Adaptive Precise Position Control of Three Degrees Freedom Platform

This paper describes the implementation of a hybrid self-tuning regulator for the positioning of motors in 3-degree of freedom table in image stabilizer. This system has three motors in yaw, pitch, and roll axis for control of table. The servo motors are permanent-magnet DC motors in which no speed reducer is used. Experimental results obtained with three DC motors in yaw, pitch and roll axial. There are two innovative aspects of this work. First, parameter estimation is used to adapt the feed forward compensation terms instead of the gains of the feedback controller, as usually is the case in conventional indirect self-tuning regulators. Second, the complete adaptive controller has been implemented with MATLAB and C program and PCL812 card and encoder card and motor driver for command the motors. In result one method with hybrid increase accuracy system, especially when input error signal is large and need to maximum speed control system