A neuro-adaptive inverse speed control mechanism for separately excited DC motor with nonlinearities

DC motors represent a large family of electromechanical actuators for rotary and rectilinear motion control applications. In this paper, we investigate the dynamic behavior of separately excited dc motor with Coulomb friction and dead-zone characteristics. A neuro-adaptive inverse controller is proposed to achieve smooth speed control by minimizing the effect of nonlinearities. The suggested neuro-controller has unique weight update mechanism that guarantees closed-loop system stability on the basis of Lyapunov stability theory. Computer simulations are performed to test the controller efficiency, and the results are compared with a conventional neuro-inverse controller for the sake of validation. The simulation results indeed demonstrate a superior speed control achieved by the proposed controller.