A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

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dc.authoridRIAZ, SALEEM/0000-0001-7818-2578
dc.authoridIqbal, Jamshed/0000-0002-0795-0282
dc.contributor.authorRiaz, Saleem
dc.contributor.authorQi, Rong
dc.contributor.authorTutsoy, Önder
dc.contributor.authorIqbal, Jamshed
dc.date.accessioned2025-01-06T17:45:06Z
dc.date.available2025-01-06T17:45:06Z
dc.date.issued2023
dc.description.abstractHigh precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of the friction uncertainty. In contrast to most of the reported works considering the servos operating at high speeds, this paper focuses on low speeds in which the friction stemmed deteriorations become more obvious. In this paper firstly, a servo model involving the Stribeck friction dynamics is formulated, and the unknown friction parameters are identified by a genetic algorithm from the offline data. Then, a feedforward controller is designed to inject the friction information into the loop and eliminate it before causing performance degradations. Since the friction is a kind of disturbance and leads to uncertainties having time-varying characters, an Adaptive Proportional Derivative (APD) type Iterative Learning Controller (ILC) named as the APD-ILC is designed to mitigate the friction effects. Finally, the proposed control approach is simulated in MATLAB/Simulink environment and it is compared with the conventional Proportional Integral Derivative (PID) controller, Proportional ILC (P-ILC), and Proportional Derivative ILC (PD-ILC) algorithms. The results confirm that the proposed APD-ILC significantly lessens the effects of the friction and thus noticeably improves the control performance in the low speeds of the PMSM.
dc.identifier.doi10.1371/journal.pone.0279253
dc.identifier.issn1932-6203
dc.identifier.issue1
dc.identifier.pmid36652489
dc.identifier.scopus2-s2.0-85146532327
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1371/journal.pone.0279253
dc.identifier.urihttps://hdl.handle.net/20.500.14669/3310
dc.identifier.volume18
dc.identifier.wosWOS:000945421100001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.language.isoen
dc.publisherPublic Library Science
dc.relation.ispartofPlos One
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241211
dc.subjectRobotıc Manıpulator
dc.subjectCompensatıon
dc.subjectTrackıng
dc.titleA novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds
dc.typeArticle

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