Adaptive control of slider-crank mechanism motion: simulations and experiments

The dynamic motion of an adaptive controlled slider-crank mechanism, which is driven by a permanent magnet (PM) synchronous servo-motor, is studied. First, the mathematical model of the motor-mechanism coupling system is developed where Hamilton's principle and the Lagrange multiplier method are applied to formulate the equation of motion. Then, by using the stability analysis with inertia-related Lyapunov function, an adaptive controller for the motor-mechanism coupling system is obtained. Simulation and experimental results show that the dynamic behaviours of the proposed controller-motor-mechanism system are robust with regard to parametric variations and external disturbances.