Adaptive Control of DC Motor Servo System With Application to Vehicle Active Steering

Abstract

The direct current (dc) motor servo systems are widely used in vehicles. The parameters and disturbances of the servo systems are usually uncertain or unknown, which makes it difficult to achieve precise control. Motivated by this, an adaptive control scheme is proposed in this paper for the dc motor servo systems with unknown parameters and uncertain disturbances. A universal dc motor model is built, based on which the control law is deduced by backstepping method. The closed-loop system stability is ensured. Simulation results are provided to verify the effectiveness of the presented control scheme. Moreover, the method is utilized in active steering control of an intelligent vehicle, which is verified by the experiments on a hardware-in-loop bench.