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This paper presents the results of system identification (system ID) of a small fixed-wing low-cost unmanned aerial vehicle (UAV). The system ID estimates the aerodynamic coefficients of the linear longitudinal equations of motion using batch least squares enhanced with an Error Filtering Online Learning (EFOL) scheme. EFOL estimates the state derivatives using filtering without taking the derivative,...
This paper addresses a novel control technique for velocity-dependent disturbance compensation. The technique established in this paper is developed from the existing periodic adaptive learning control (PALC) scheme. For the velocity-dependent disturbance compensation, the previously stored velocity information is searched, which is called repetitive interpolation scheme. Through a numerical simulation,...
Fractional calculus is a generalization of the integration and differentiation to the fractional (non-integer) order. In this paper, we devised a fractional-order periodic adaptive learning compensation (FO-PALC) method for cogging effect minimization for permanent magnetic synchronous motors (PMSM) position and velocity servo system. Cogging effect is a major disadvantage of PMSM. In fact, the cogging...
Cogging effect is a serious disadvantage of the permanent magnetic synchronous motor (PMSM), and cogging force is a position-dependent periodic disturbance. In our previous work [1], a dual high-order periodic adaptive learning compensation (DHO-PALC) method for state-dependent periodic disturbance was presented, where the long term stability issue was not addressed. Due to the impact of the high...
In this paper, a simulation model of PMSM position servo system is presented briefly first, we then propose a high order periodic adaptive learning compensation (HO-PALC) method for cogging effect on PMSM position and velocity servo tasks. The cogging force is considered as a position-dependent disturbance that is periodic. The key idea of the implemented cogging disturbance compensation method is...
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