DSP-Based Real-Time Implementation of a Hybrid $H \infty$ Adaptive Fuzzy Tracking Controller for Servo-Motor Drives

An embedded hybrid Hinfin adaptive fuzzy control structure is implemented for trajectory tracking control of a brushless servo drive system. The control structure employs a fuzzy logic controller incorporating an Hinfin tracking controller via an acceleration feedback signal. The fuzzy logic controller is equipped with an adaptive-law-based Lyapunov synthesis approach to compensate for system uncertainty and random changes in the external load acting on the drive system. The proposed control structure is experimentally verified on a state-of-the-art dSPACE DS1104 digital signal processor (DSP)-based data acquisition and control system in a laboratory 1-hp brushless drive system. The controllers are first designed in Simulink. Then, the Real-Time Workshop is used to automatically generate optimized C code for real-time applications. Afterward, the interface between MATLAB/Simulink and the dSPACE DS 1104 allows the control algorithm to run on the hardware processor of the DSP. The result is a powerful testbed for the rapid design and implementation of the hybrid tracking controllers for a wide variety of operating conditions. Experimental results are provided to verify the effectiveness of the proposed controller. Considerable improvement in the performance generated by the hybrid controller is compared with the traditional Hinfin controller