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

  • Mohammed Ali S. Mohammed Department of Control and Systems Engineering / University of Technology
  • Amjad J. Humaidi Department of Control and Systems Engineering / University of Technology
  • Ammar A. Al jodah Department of Control and Systems Engineering / University of Technology
Keywords: L1-adaptive controller, DC servomotor position control

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.

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Published
2017-12-13
How to Cite
Mohammed, M., Humaidi, A., & Al jodah, A. (2017). Design and Simulation of L1-Adaptive Controller for Position Control of DC Servomotor. Al-Khwarizmi Engineering Journal, 12(2), 100- 114. Retrieved from https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/300
Section
Articles