Adaptive control of slider-crank mechanism motion: Simulations and experiments

Faa Jeng Lin, Rong Fong Fung, Yueh Shan Lin

Research output: Contribution to journalArticlepeer-review

20 Scopus citations

Abstract

The dynamic motion of an adaptive controlled slider-crank mechanism, which is driven by a permanent magnet (PM) synchronous servo-motor, is studied. First, the mathematical model of the motor-mechanism coupling system is developed, where Hamilton's principle and the Lagrange multiplier method are applied to formulate the equation of motion. Then, by using the stability analysis with inertia-related Lyapunov function, an adaptive controller for the motor-mechanism coupling system is obtained. Simulation and experimental results show that the dynamic behaviours of the proposed controller-motor-mechanism system are robust with regard to parametric variations and external disturbances.

Original languageEnglish
Pages (from-to)1227-1238
Number of pages12
JournalInternational Journal of Systems Science
Volume28
Issue number12
DOIs
StatePublished - Jul 1997

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