ADAPTIVE CONTROLLER DESIGN FOR TRAJECTORY TRACKING IN SECOND-ORDER SYSTEMS: APPLICATION TO DC MOTOR VELOCITY CONTROL
Efrain Ibarra Jimenez,
Omar Vargas Gutierrez,
Ricardo Chapa Garcia,
Romeo Selvas Aguilar
Abstract: This paper presents the design and implementation of an adaptive controller for trajectory tracking in second-order dynamical systems. A theoretical foundation is established by proving that the tracking error dynamics can be reduced to a first-order equation, significantly simplifying the control design. Based on this theoretical framework, a control law is proposed to ensure that the system follows a desired reference trajectory. The proposed controller is implemented on a DC motor to regulate its angular velocity. Experimental results are provided, demonstrating the effectiveness of the controller in achieving precise trajectory tracking under real operating conditions.
Keywords: Adaptive control, Trajectory tracking, Second-order systems, DC motor control, Experimental implementation
DOI: 10.24874/PES08.02B.018
Recieved: Revised: Accepted:
UDC:
Reads: 1 
