Fuzzy MRAC Controller Design for the vane-type air motor

Air motors are widely used in automation industry due to the special requirements, such as park-prohibited environments, mining industry, chemical manufactory, and so on. Due to the compressibility of air and the friction in mechanism, the overall system is actually nonlinear with dead-zone behaviors. The performance of the previous controllers implemented on the air motor system demonstrated large overshoot, slow response and significant fluctuation errors around the setting points. It is important to eliminate the dead-zone for improving the control performance. By considering the effects of the dead-zone behaviors, we developed a MRAC with fuzzy friction compensation controller to overcome the affection of dead-zone. The experiment results are given to validate the proposed velocity control strategy.