Controlling a DC Motor through Lypaunov-like Functions and SAB Technique

In this paper, state adaptive backstepping and Lyapunov-like function methods are used to design a robust adaptive controller for a DC motor. The output to be controlled is the motor speed. It is assumed that the load torque and inertia moment exhibit unknown but bounded time-varying behavior, and that the measurement of the motor speed and motor current are corrupted by noise. The controller is implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform and experimental results agree with theory.

[1]  Olivier Bernard,et al.  Near optimal interval observers bundle for uncertain bioreactors , 2007, 2007 European Control Conference (ECC).

[2]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[3]  Shuzhi Sam Ge,et al.  Adaptive neural network output feedback control for a class of non-affine non-linear systems with unmodelled dynamics , 2011 .

[4]  Jing Na,et al.  Adaptive neural dynamic surface control for servo systems with unknown dead-zone , 2011 .

[5]  Antonio Loría,et al.  Velocity-sensorless tracking control and identification of switched-reluctance motors , 2014, Autom..

[6]  Faa-Jeng Lin,et al.  FPGA-based adaptive backstepping control system using RBFN for linear induction motor drive , 2008 .

[7]  C. Bharatiraja,et al.  Low cost Real Time Centralized Speed Control of DC Motor Using Lab view -NI USB 6008 , 2016 .

[8]  Yongming Li,et al.  Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping ☆ , 2013 .

[9]  Fouad Giri,et al.  Robust control of synchronous motor through AC/DC/AC converters , 2010 .

[10]  Chun-Yi Su,et al.  Robust adaptive control of a class of nonlinear systems with unknown dead-zone , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[11]  Chun-Yi Su,et al.  Robust adaptive control of a class of nonlinear systems with unknown dead-zone , 2004, Autom..

[12]  Hassan K. Khalil,et al.  High-gain observers in the presence of measurement noise: A switched-gain approach , 2009, Autom..

[13]  Kellen Petersen August.  Real Analysis , 2009 .

[14]  Ned Mohan.  First Course on Power Electronics and Drives , 1989 .

[15]  Jie Chen,et al.  Adaptive robust control for DC motors with input saturation , 2011 .

[16]  Olivier Bernard,et al.  Interval observers for linear time-invariant systems with disturbances , 2011, Autom..

[17]  Anuradha M. Annaswamy,et al.  Robust Adaptive Control , 1984, 1984 American Control Conference.

[18]  B. Pasik-Duncan,et al.  Adaptive Control , 1996, IEEE Control Systems.

[19]  F. Angulo,et al.  A Robust State Feedback Adaptive Controller with Improved Transient Tracking Error Bounds for Plants with Unknown Varying Control Gain , 2012 .

[20]  Hassan K. Khalil,et al.  Error bounds in differentiation of noisy signals by high-gain observers , 2008, Syst. Control. Lett..

[21]  X. Ye,et al.  Adaptive nonlinear design without a priori knowledge of control directions , 1998, IEEE Trans. Autom. Control..

[22]  Julio E. Normey-Rico,et al.  Dealing with noise in unstable dead-time process control , 2010 .

[23]  Shaocheng Tong,et al.  Fuzzy adaptive robust backstepping stabilization for SISO nonlinear systems with unknown virtual control direction , 2010, Inf. Sci..

[24]  R. Nussbaum.  Some remarks on a conjecture in parameter adaptive control , 1983 .

[25]  F. E. Hoyos,et al.  Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor , 2013 .

[26]  Thang Nguyen Trong.  The Control Structure for DC Motor based on the Flatness Control , 2017 .

[27]  Gia Thi Dinh,et al.  An Adaptive LQG Combined With the MRAS-Based LFFC for Motion Control Systems , 2014 .

[28]  Ying Feng,et al.  Robust adaptive controller design for a class of nonlinear systems preceded by generalized Prandtl-Ishlinskii Hysteresis representation , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[29]  Keun-Mo Koo,et al.  Stable adaptive fuzzy controller with time-varying dead-zone , 2001, Fuzzy Sets Syst..

[30]  Jing Wang,et al.  Robust adaptive tracking for time-varying uncertain nonlinear systems with unknown control coefficients , 2003, IEEE Trans. Autom. Control..

[31]  Chiheb Ben Regaya,et al.  DSP-based adaptive backstepping using the tracking errors for high-performance sensorless speed control of induction motor drive. , 2016, ISA transactions.

[32]  I. Kanellakopoulos.  Robustification tools for nonlinear control design , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[33]  Xinkai Chen,et al.  Adaptive control of system involving complex hysteretic nonlinearities: a generalised Prandtl–Ishlinskii modelling approach , 2009, Int. J. Control.

[34]  An improved Direct Adaptive Fuzzy controller for an uncertain DC Motor Speed Control System , 2013 .

[35]  Elhassane Abdelmounim,et al.  A New Induction Motor Adaptive Robust Vector Control based on Backstepping , 2017 .

[36]  Mohammad Farrokhi,et al.  Chattering free with noise reduction in sliding-mode observers using frequency domain analysis , 2010 .