Adaptive robust control for DC motors with input saturation

Abstract

The adaptive robust control (ARC) for DC motors subjected to parametric uncertainties, disturbances and input saturation is considered in this study. To achieve high performance while keeping the control authority within saturation limit, a saturated ARC scheme is proposed. In this scheme, a variable-gain saturation function is introduced for the virtual control law, so that the amplitude of the virtual control and its derivative decrease when the control input approaches to the prescribed bound. Consequently, the virtual control and its derivative will not be excessively large, which is crucial for stabilising the system with a bounded input. We prove that the proposed controller cannot only assure global stability, but also provide desirable control performance, that is, the tracking error can be steered to the neighbourhood of the origin in finite time. Moreover, asymptotic tracking can be achieved in the presence of parametric uncertainties only. Finally, simulation results illustrate the effectiveness of the proposed controller.

Real-time speed controlling of a DC motor using fuzzy logic controller

“…Shi et al tried and compared H2 and H∞ control methods for controlling of a DC motor [10]. Li et al implemented Adaptive Robust Control (ARC) method for controlling of a DC motor which has unknown parameters [11]. Kim and Ishiyama realized speed control of a DC motor used for driving small power-magnetic blood pumps by hybrid control method [12].…”

On the model order reduction of a direct current motor

“…1,12,13 Neglecting L a is usually backed up by its small magnitude 6,12,14 or by the fact that in DC motor configuration the time constant of the mechanical system is greatly larger than that of the electrical system. 1,12,15 On the other hand, these two factors are not sufficient to vindicate the adequacy of this simplification especially when it comes to modern DC motor designs, in which some are based 1 on the implementation of ''ironless rotors'', or the usage of strong ''rare earth magnets''. The latter is elaborated further in Remark 3.…”

A time efficient nonlinear tracking controller

“…Further, reference [8] proposes a method that is capable of applying the information on interpolation parameters appearing in the procedure of representing saturation nonlinearity as convex polytope. An adaptive robust control (ARC) for DC motors subjected to parametric uncertainties, disturbances and input saturation is considered in [9]. To achieve high performance and ensuring the control authority within saturation limit, [9] proposes an ARC algorithm.…”

“…An adaptive robust control (ARC) for DC motors subjected to parametric uncertainties, disturbances and input saturation is considered in [9]. To achieve high performance and ensuring the control authority within saturation limit, [9] proposes an ARC algorithm. The transient performance of the output response is improved by using composite nonlinear feedback (CNF) control technique [10].…”