Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

[+] Author and Article Information
P. N. Nikiforuk

University of Saskatchewan, Saskatchewan, Canada

K. Tamura

Department of Mechanical Engineering, Sophia University, Chiyoda-Ku, Tokyo, Japan

J. Dyn. Sys., Meas., Control 110(4), 343-349 (Dec 01, 1988) (7 pages) doi:10.1115/1.3152694 History: Received June 08, 1987; Revised October 31, 1987; Online July 21, 2009


This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

Copyright © 1988 by ASME
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