Abstract
Experience mapping based prediction controller (EMPC) is a novel controller based on the human motor control mechanism. The application of EMPC for the precise position control of PMDC motors and the performance analysis using step responses is present in literature. However, the performance of the EMPC control concepts in trajectory tracking applications is not studied. This paper investigates the trajectory control of a PMDC motor using EMPC. The ability of EMPC to control the position along an arbitrarily selected trajectory and the limitations of the quasi-open-loop control structure of EMPC in trajectory tracking applications are studied. A modification to the control strategy which retains the quasi-open-loop control structure is suggested to improve the performance. Further, a novel method is developed within the existing framework of EMPC in this paper for the prediction of duty-cycle to achieve the required steady-state velocity output of the DC motor system and this is employed for smooth trajectory tracking. The proposed method is tested in simulation and the results are analyzed and compared with that of MRAC and LQG techniques. The robustness of the proposed technique to changes in system parameters is also studied. All the proposed techniques are also implemented on a practical laboratory setup and the results are provided. The proposed methods are used for plotting and drawing on a XY plotter and the results are presented and discussed.
Published Version
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