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EMPC for DC Motor based Tracking applications

Raghu, C and Dinesh, NS (2017) EMPC for DC Motor based Tracking applications. In: IEEE 3rd International Symposium in Robotics and Manufacturing Automation (ROMA), SEP 19-21, 2017, Kuala Lumpur, MALAYSIA.

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Official URL: http://dx.doi.org/10.1109/ROMA.2017.8231730


Experience Mapping based prediction controller (EMPC) is a newly developed control strategy which has transformed the learning-prediction-adaptation capability of Human motor control (HMC) into engineering world. The control is achieved by forming input-output mapping of the system to be controlled through direct interaction with it in the intended environment. This paper presents the use of EMPC for DC motor used in tracking applications. Both demand tracking as well as constant speed operation at varying load are attempted. Mathematical theory behind the control strategy is developed and the results obtained through simulation as well as practical implementation are presented. The performance of EMPC is compared with that of Model Reference Adaptive Controllers and the results are presented.

Item Type: Conference Proceedings
Publisher: IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Additional Information: Copy right for the article belong to IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre: Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology)
Date Deposited: 27 Mar 2018 18:27
Last Modified: 05 Mar 2019 11:09
URI: http://eprints.iisc.ac.in/id/eprint/59405

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