A Novel Robust Adaptive Control for PMDC Servo Motor Incorporating Recursive Least Square and Particle Swarm Optimization

Abstract

Position control is a crucial control system used extensively in various industrial applications. In many of these applications, system parameters, such as the mass of an object can change unpredictably. Non-adaptive position control proves inadequate in successfully managing these fluctuations. Thus, an online adaptive control system plays a vital role in maintaining high performance despite changing parameters. This paper proposes a novel online adaptive fixed-structure robust controller for a PMDC (Permanent Magnet Direct Current) servo motor. This controller employs Recursive Least-square and Particle Swarm Optimization techniques to form the adaptive system. Simulation results demonstrate the effectiveness of our proposed technique and its potential application.