Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="837548.fig.006a" src="https://static.hindawi.com/articles/aaa/volume-2013/837548/figures/837548.fig.006a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The parameter estimation of ARC controller</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="837548.fig.006b" src="https://static.hindawi.com/articles/aaa/volume-2013/837548/figures/837548.fig.006b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The parameter estimation of ARCF controller </td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="837548.fig.006c" src="https://static.hindawi.com/articles/aaa/volume-2013/837548/figures/837548.fig.006c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>The parameter estimation of DCARC controller </td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="837548.fig.006d" src="https://static.hindawi.com/articles/aaa/volume-2013/837548/figures/837548.fig.006d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>The parameter estimation of DCARCF controller</td></tr></table></td></tr></table>

<table>Parameter estimations of five controllers in normal case.</table>

Abstract and Applied Analysis

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Figure 6

Figure 6: Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation 