A Model Reference Adaptive Controller for Belt Conveyors of Induction Conveyor Line in Cross-Belt Sorting System with Input Saturation

Model reference adaptive controller for belt conveyors of induction conveyor line in cross-belt sorting system with input saturation subjected to parametric uncertainties and input saturation is proposed in this paper. There exist 3 inputs and 3 outputs in the proposed controller for belt conveyors of induction conveyor line in cross-belt sorting system named the MIMO linear system. In this controller, an auxiliary system is introduced for compensating the error dynamics of the MIMO linear system when the saturation input occurs. Therefore, the steady state error is guaranteed to be bounded when a saturated input error does not equal to zero. Finally, the experimental results are shown to verify the effectiveness and the performance of the proposed controller for the MIMO linear system with input saturation and a MRAC controller for that without input saturation.