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:	Mohammed Ali S. Mohammed, Amjad J. Humaidi, Ammar A. Al jodah
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	L1-adaptive controller DC servomotor position control Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/893f061a66dd4342b51771ff539e85b5
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spelling	oai:doaj.org-article:893f061a66dd4342b51771ff539e85b52021-12-02T05:46:59ZDesign and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor1818-11712312-0789https://doaj.org/article/893f061a66dd4342b51771ff539e85b52017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/300https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. Mohammed Ali S. MohammedAmjad J. HumaidiAmmar A. Al jodahAl-Khwarizmi College of Engineering – University of BaghdadarticleL1-adaptive controllerDC servomotor position controlChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 12, Iss 2 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	L1-adaptive controller DC servomotor position control Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	L1-adaptive controller DC servomotor position control Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Mohammed Ali S. Mohammed Amjad J. Humaidi Ammar A. Al jodah Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
description	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.
format	article
author	Mohammed Ali S. Mohammed Amjad J. Humaidi Ammar A. Al jodah
author_facet	Mohammed Ali S. Mohammed Amjad J. Humaidi Ammar A. Al jodah
author_sort	Mohammed Ali S. Mohammed
title	Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
title_short	Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
title_full	Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
title_fullStr	Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
title_full_unstemmed	Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
title_sort	design and simulation of l1-adaptive controller for position control of dc servomotor
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/893f061a66dd4342b51771ff539e85b5
work_keys_str_mv	AT mohammedalismohammed designandsimulationofl1adaptivecontrollerforpositioncontrolofdcservomotor AT amjadjhumaidi designandsimulationofl1adaptivecontrollerforpositioncontrolofdcservomotor AT ammaraaljodah designandsimulationofl1adaptivecontrollerforpositioncontrolofdcservomotor
_version_	1718400242124062720

Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor

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