Adaptive robust control of DC motors with time-varying output constraints

• Published in: 2015 34th Chinese Control Conference (CCC) pp. 4256 - 4261
• Main Authors: Guichao, Yang, Jianyong, Yao, Guigao, Le, Dawei, Ma
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
• Subjects: Adaptation models; Adaptive control systems; Adaptive robust control; Adaptive systems; Algorithms; Computer simulation; Controllers; dc motor; DC motors; Direct current; Electric motors; motion control; output constraints; Robust control; Robustness; Tracking errors; Trajectory; Uncertainty
• ISSN: 1934-1768
• DOI: 10.1109/ChiCC.2015.7260297

In this paper, an adaptive robust control with time-varying output constraints is proposed to synthesize practical high-performance motion controllers for precision DC motor systems in the presence of parametric uncertainties and uncertain nonlinearities effects. An asymmetric time-varying Barrier Lyapunov Function (BLF) is employed to ensure that the initial output can start from anywhere within the pre-set output constrained space. The global stability of the proposed controller is obtained via Lyapunov analysis, and prescribed robust transient performance and steady-state tracking accuracy are achieved even when the whole system subjects to parametric uncertainties and time-varying disturbances. Furthermore, zero steady-state output tracking error is achieved when the system only subjects to unknown parameters. The obtained comparative simulation results validate the feasibility of the proposed algorithm.