Adaptive tracking control for high performance DC drives

Abstract

This paper presents a novel application of a modified adaptive controller to a dc motor for high performance tracking applications, such as robotics, actuation and manipulation. By the proposed technique, the rotor position and/or the speed of the dc motor is forced to follow preselected tracks, even when the load condition varies. An algorithm based on Minimum Variance Self Tuning control is developed for this purpose. The adaptive controller is effective even in the presence of external disturbances, provided that the system exhibits minimum phase characteristics. The effectiveness of the controller is demonstrated by using a general purpose nonlinear simulation software. The simplicity of the algorithm and the promising simulation results prove that this proposed controller is very effective in high performance tracking applications.[1,21. WM 244-5 ECA paper recommended and approved by the IEEE Rotating Machinery Committee of the IEEE Power Engineering Society €or presentation at the IEEE/PES

Decentralized Motion Control for Omnidirectional Wheelchair Tracking Error Elimination Using PD-Fuzzy-P and GA-PID Controllers

“…Fuzzy logic is a technique in control system which deals with if-else logic, its concept was proposed by Zadeh [29], it is insensitive to parametric uncertainty, load and parameter fluctuations, and able to manage trouble with inaccurate data. Adaptation of PID using fuzzy (Fuzzy-PID) has been used in the research [30,31] because of its big advantage over the conventional PID. Thus, in this study a proportional-derivative fuzzy (PD-fuzzy) controller is used to tune a proportional controller for tracking a trajectory of omnidirectional wheeled wheelchair.…”

“…data. Adaptation of PID using fuzzy (Fuzzy-PID) has been used in the research [30,31] because of its big advantage over the conventional PID. Thus, in this study a proportional-derivative fuzzy (PDfuzzy) controller is used to tune a proportional controller for tracking a trajectory of omnidirectional wheeled wheelchair.…”