This paper proposes an adaptive PID controller based on linear extended state observer (LESO) for the two-degree-of-freedom joint servomechanism of industrial robot with time-varying load, uncertainties parameters and disturbance. The third-order space equations system approximate model is established to obtain LESO which applied estimate values total reference algorithm used variable moment in...

Design and Implementation of Discrete Time Observer Based Backstepping Controller for a 2DOF Servomechanism

This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop. A standard Proportional Derivative (PD) position controller stabilizes the loop without requiring knowledge on the servomechanism parameters. The analysis of the identification algorithm takes into account the control law e...

The robust servomechanism problem consists in finding an LTI controller for the plant so that: (i) the resultant closed-loop system is asymptotically stable, (ii) asymptotic tracking occurs, and (iii) condition (ii) holds any arbitrary perturbation in the plant model (parametric uncertainty or dynamic uncertainty, including changes in model order) that do not cause the resultant closed-loop sys...

Friction is responsible for several servomechanism limitations, and their elimination is always a challenge for control engineers. In this paper, model-based feedback compensation is studied for servomechanism tracking tasks. Several kinetic friction models are employed and their parameters identified experimentally. The effects of friction compensation on system response are examined using des...

Abstract  A position control algorithm for a beltdriven servomechanism of a laser-cutting machine is described. High-accuracy position tracking control procedure for the system with inherent elasticity due to the low-cost belt-driven servomechanism is derived using sliding mode motion control strategy and Lyapunov design. The control design results in continuos sliding mode control law. It pos...

In traditional web handling processes, web tension and speed are typically controlled assuming that the web system consists of a number of single-input–single-output systems. This assumption often results in large interactions occurring in the closed-loop system between the control loops and, hence, results in high-quality control being difficult to achieve. In this paper, the control of the we...

Topographic mapping of retinal ganglion axons to the midbrain is computed by the servomechanism model, which is based on the experimental result of cell attachment. Cells expressing a certain level of Eph proteins (receptors for ephrin ligands) optimally attach to a surface that expresses a specific level of ephrin ligand density. The retina has an increasing nasal-to-temporal gradient of Eph r...

The purpose of this work is to design a neurofuzzy controller, which can be used in a microcomputer to control the position of an electrohydraulic servo actuating primary flight controls. More specifically, an artificial intelligence based neuro-fuzzy controller is synthesized to solve a robust servomechanism problem. Indeed, the artificial intelligence based synthesis of control law provides a...