Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
This paper presents L1-adaptive controller for controlling uncertain parameters and time-varying unknown parameters to control the position of a DC servomotor. For the purpose of comparison, the effectiveness of L1-adaptive controller for position control of studied servomotor has been examined and...
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| Autores principales: | , , |
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| Formato: | article |
| Lenguaje: | EN |
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Al-Khwarizmi College of Engineering – University of Baghdad
2017
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/893f061a66dd4342b51771ff539e85b5 |
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| Sumario: | This paper presents L1-adaptive controller for controlling uncertain parameters and time-varying unknown parameters to control the position of a DC servomotor. For the purpose of comparison, the effectiveness of L1-adaptive controller for position control of studied servomotor has been examined and compared with another adaptive controller; Model Reference Adaptive Controller (MRAC). Robustness of both L1-adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty were studied. Three different types of input signals are taken into account; ramp, step and sinusoidal. The L1-adaptive controller ensured uniformly bounded transient and asymptotic tracking for both system's input and output signals, simultaneously with asymptotic tracking. Simulations of a DC servomotor with time-varying friction and disturbance are presented to verify the theoretical findings.
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