Title :
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
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;
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1993.348210
