A modified model reference adaptive control algorithm for DC servomotor

Author

Benjelloun, K. ; Mechlih, H. ; Boukas, E.K.

Author_Institution

Dept. of Mech. Eng., Ecole Polytech. de Montreal, Que., Canada

fYear

1993

fDate

13-16 Sep 1993

Firstpage

941

Abstract

This paper deals with the position control of DC servomotor. A modified model reference adaptive control (MMRAC) algorithm is proposed. This algorithm preserves all the best features of MRAC such as Lyapunov stability, and asymptotic convergence of the tracking error. In addition, dynamics of DC servomotor, load changes, noises, and disturbances are taken into account and assumed to be completely unknown. The system is examined under various uncertainties such as load variations, noisy measurements and field disturbances. Experimental results have shown that the proposed control algorithm is more robust than time delay control, and conventional PID controller

Keywords

DC motors; Lyapunov methods; machine control; model reference adaptive control systems; position control; servomotors; stability; tracking; DC servomotor; Lyapunov stability; asymptotic convergence; dynamics; field disturbances; load variations; model reference adaptive control; noises; position control; tracking error; uncertainties; Adaptive control; Convergence; Delay effects; Load management; Lyapunov method; Noise robustness; Position control; Robust control; Servomotors; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348210

Filename

348210