A Bounded e-Modification Applied to Adaptive Control of Servo Systems

This work proposes an adaptive controller applied to servo systems. Its salient features are the use of the acceleration and the velocity of the desired trajectory for building the regressor vector, which is employed in a update law endowed with the classic e-modification, and the proposal of a new smooth bounding technique for limiting the values of the parameter estimates produced by the update law. The performance of the proposed adaptive controller is evaluated through experiments on a low-cost laboratory prototype. In addition, the experiments allow concluding that the proposed parameter bounding technique combined with the use of noise-free signals in the update law produce good closed-loop performance.