VSS-type self-tuning control of direct-drive motor

Abstract

A self-tuning control based on the VSS principle is proposed and experimentally investigated for the control of a direct-drive motor with unknown static load and unmodeled dynamics. The designed control system achieves perfect tracking when parameters are accurately identified and suppresses sluggish motion in the transient period using a mismatch model. The controller is robust with respect to disturbances and the error of parameters. Its validity is confirmed through experiments.<>