ADAM optimization for adaptive position control of a cart driven by an armature-controlled DC motor supported by the balloon effect

Abstract

This research introduces a new method for controlling the linear positioning of a car powered by a DC motor with armature control, focusing on enhancing the parameters of the controller that is used to control the position of the car. The study employs the ADAM (Adaptive Moment Estimation) optimization algorithm and integrates the Balloon effect (BE) to improve the traditional ADAM algorithm's response, particularly against external disturbances and changes in system parameters. The proposed method includes an objective function dependent on the altered controller gain values and the determined value of the motor ’s open -loop transfer function. The system's performance with the proposed controller is evaluated under various conditions, including step load disturbances and variations in motor parameters. Both simulation and experimental results validate that the ada ptive controller, utilizing the modified ADAM algorithm, significantly enhances the system’s performance, particularly in mitigating load disturbances and uncertainties in system parameters.