Title :
Robust adaptive PID control for electromechanical system
Author :
Yang, Fang ; Yuan, Zhaohui ; Zhang, Wei
Author_Institution :
Dept. of Autom. Control, Univ. of Northwestern Polytech., Xian, China
Abstract :
A robust adaptive PID controller is proposed for electromechanical speed control system with unknown uncertainties and external load disturbances. The robust adaptive controller is comprised of an optimal PID controller and a CMAC controller. The optimal PID controller is designed to stabilize the nominal system, and the CMAC controller is designed to compensate for the system unknown uncertainties and external load disturbances. The robust adaptive PID controller can guarantee the system tracking error and CMAC weight errors converging to zero. Simulation results demonstrate that the proposed controller has favorable tracking performance and robustness to system uncertainties and external disturbances.
Keywords :
adaptive control; cerebellar model arithmetic computers; neurocontrollers; optimal control; robust control; three-term control; velocity control; CMAC controller; CMAC weight errors; electromechanical speed control system; electromechanical system; external load disturbance; optimal PID controller; robust adaptive PID controller; robust adaptive controller; Adaptive control; Adaptive systems; Control systems; Electromechanical systems; Error correction; Optimal control; Programmable control; Robust control; Three-term control; Uncertainty; CMAC neural networks; PID controller; adaptive control; robust control;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5245093
