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Robust adaptive deadzone compensation of DC servo system

Robust adaptive deadzone compensation of DC servo system

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© The Institution of Engineering and Technology
Published

Deadzone in DC servo system is often poorly known and it can severely limit system performance. A robust adaptive deadzone compensation scheme is presented for general DC servo system with deadzone of unknown width. The tuning algorithms were rigorously shown to guarantee small tracking errors as well as bounded deadzone parameter estimates using Lyapunov stability. The other prominent feature of the controller is that it can deal with the uncertainty in both inertial and friction parameters. The simulation results are presented to demonstrate its efficacy.

Inspec keywords: machine control; servomotors; compensation; Lyapunov methods; robust control; adaptive control

Other keywords: inertia parameters; DC servo system; Lyapunov stability; robust adaptive deadzone compensation; friction parameters; tuning algorithms

Subjects: Control of electric power systems; Actuating and final control devices; Stability in control theory; Self-adjusting control systems

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