Performance improvement for velocity controller of fish sorting belt conveyor system under bounded disturbance in transient phase
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This paper proposes a modified-model reference adaptive controller (M-MRAC) for the velocity control of a belt conveyor in a fish sorting system with uncertainty parameters, input saturation, and bounded disturbances. The following aspects are addressed to improve the tracking performance and robustness of the proposed controller for the fish sorting belt conveyor system with bounded disturbances in the transient phase. First the estimated parameters in adaptive laws have smooth variations under bounded external disturbances and a σ-modification is added to the adaptive law for the proposed M-MRAC controller to be robust. Second, an auxiliary error vector is introduced for compensating the error dynamics of the system when the input saturation occurs. Finally, the experimental results of the proposed controller under bounded disturbance and saturated input are better in effectiveness and performance than those of a conventional model reference adaptive controller.
Abstract
This paper proposes a modified-model reference adaptive controller (M-MRAC) for the velocity control of a belt conveyor in a fish sorting system with uncertainty parameters, input saturation, and bounded disturbances. The following aspects are addressed to improve the tracking performance and robustness of the proposed controller for the fish sorting belt conveyor system with bounded disturbances in the transient phase. First the estimated parameters in adaptive laws have smooth variations under bounded external disturbances and a σ-modification is added to the adaptive law for the proposed M-MRAC controller to be robust. Second, an auxiliary error vector is introduced for compensating the error dynamics of the system when the input saturation occurs. Finally, the experimental results of the proposed controller under bounded disturbance and saturated input are better in effectiveness and performance than those of a conventional model reference adaptive controller.
참고문헌 (12)
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