Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor | ||
| Al-Khwarizmi Engineering Journal | ||
| Article 1, Volume 12, Issue 2, June 2016, Pages 100-114 | ||
| Authors | ||
| Ammar A. Al jodah; Amjad J. Humaidi; Mohammed Ali S. Mohammed | ||
| Abstract | ||
| 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. | ||
| Keywords | ||
| Adaptive controller; DC servomotor position control | ||
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