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Simulations and Experiments on Velocity and Position Lambda Tracking with Adaptive Control

This paper investigates the dynamics and control laws for tracking both velocity and position using Lambda tracking. It presents a comprehensive outline, including simulations and experiments conducted under varying conditions—both with and without noise, and with cogging effects. The findings indicate that a faster response can be achieved utilizing fractional-order derivatives. This research emphasizes the need for further exploration into noise rejection and the mitigation of tremors during experiments, aiming to enhance the reliability of adaptive control systems.

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Simulations and Experiments on Velocity and Position Lambda Tracking with Adaptive Control

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  1. Simulations and Experiments for Velocity / Position Lambda - Tracking of Universal Adaptive Control Ying Luo CSOIS / ECE / USU 13 / 2 / 2008

  2. Outline • Velocity Lambda – Tracking • Dynamics and Control Law • Simulation • Experiment • Position Lambda – Tracking • Dynamics and Control Law • Simulation • Experiment

  3. Velocity Lambda - Tracking • Dynamics and Control Law Relative degree

  4. Velocity Lambda - Tracking • Simulation block diagram

  5. Velocity Lambda - Tracking • Simulation (Without noise, without cogging) rad/s

  6. Velocity Lambda - Tracking • Simulation (Without noise, without cogging) rad/s

  7. Velocity Lambda - Tracking • Simulation (Without noise, without cogging) rad/s

  8. Velocity Lambda - Tracking • Simulation (With noise, without cogging) rad/s

  9. Velocity Lambda - Tracking • Simulation (With noise, without cogging) rad/s

  10. Velocity Lambda - Tracking • Simulation (With noise, without cogging) rad/s

  11. Velocity Lambda - Tracking • Simulation (With cogging, without noise) rad/s

  12. Velocity Lambda - Tracking • Simulation (With cogging, without noise) rad/s

  13. Velocity Lambda - Tracking • Simulation (With cogging, without noise) rad/s

  14. Velocity Lambda - Tracking • Experiment

  15. Velocity Lambda - Tracking • Experiment (Without cogging) rad/s

  16. Velocity Lambda - Tracking • Experiment (Without cogging) rad/s

  17. Velocity Lambda - Tracking • Experiment (Without cogging) rad/s

  18. Velocity Lambda - Tracking • Experiment (With cogging , ) rad/s

  19. Velocity Lambda - Tracking • Experiment (With cogging , ) rad/s

  20. Velocity Lambda - Tracking • Experiment (With cogging , ) rad/s

  21. Outline • Velocity Lambda – Tracking • Dynamics and Control Law • Simulation • Experiment • Position Lambda – Tracking • Dynamics and Control Law • Simulation • Experiment

  22. Position Lambda - Tracking • Dynamics and Control Law Relative degree

  23. Position Lambda - Tracking • Simulation block diagram

  24. Position Lambda - Tracking • Simulation (Without noise, without cogging) rad

  25. Position Lambda - Tracking • Simulation (Without noise, without cogging) rad

  26. Position Lambda - Tracking • Simulation (Without noise, without cogging) rad

  27. Position Lambda - Tracking • Simulation (With noise, without cogging) rad

  28. Position Lambda - Tracking • Simulation (With noise, without cogging) rad

  29. Position Lambda - Tracking • Simulation (With noise, without cogging) rad

  30. Position Lambda - Tracking • Simulation (With cogging, without noise) rad

  31. Position Lambda - Tracking • Simulation (With cogging, without noise) rad

  32. Position Lambda - Tracking • Simulation (With cogging, without noise) rad

  33. Position Lambda - Tracking • Experiment

  34. Position Lambda - Tracking • Experiment (Without cogging) rad

  35. Position Lambda - Tracking • Experiment (Without cogging) rad

  36. Position Lambda - Tracking • Experiment (Without cogging) rad

  37. Position Lambda - Tracking • Experiment (Without cogging) rad

  38. Position Lambda - Tracking • Experiment (With cogging , ) rad

  39. Position Lambda - Tracking • Experiment (With cogging , ) rad

  40. Position Lambda - Tracking • Experiment (With cogging , ) rad

  41. A faster response can be obtained using fraction order derivative. We need to do more research on it , for example the rejection of noise and elimination of the serious tremble in the experiments. Conclusion

  42. QUESTION ?

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