The paper presents a strategy for air-powered servodrives to control both the load position and the velocity profile under changing inertia conditions. It incorporates a velocity model reference adaptive control scheme acting as an inner control loop to dictate the load velocity. An outer control loop, called the End Control scheme, interfaces with the inner loop to control the final load position. Three possible End Control schemes supplemented by a Learning algorithm are discussed. The effectiveness of the proposed approach, which has potential applications in robotics, is evaluated via numerical simulations.
ASJC Scopus subject areas
- Mechanical Engineering