Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor
| Autor: | Mohammed Ali S. Mohammed, Amjad J. Humaidi, Ammar A. Al jodah |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | Al-Khawarizmi Engineering Journal, Vol 12, Iss 2 (2017) |
| ISSN: | 2312-0789 1818-1171 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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