Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors

Sensors

Guo-Qiang Wu¹  Shu-Nan Wu¹  Yu-Guang Bai¹ 

[1] State Key Laboratory of Structural Analysis for Industrial Equipment, Faculty of Vehicle Engineering and Mechanics, Dalian University of Technology, Dalian 116024, China; E-Mail:

关键词: MRAC;    integral action;    Lyapunov stability;    asymptotical convergence;   

DOI  :  10.3390/s130404742

来源: mdpi

【 摘 要 】

In this paper, an adaptive law with an integral action is designed and implemented on a DC motor by employing a rotary encoder and tachometer sensors. The stability is proved by using the Lyapunov function. The tracking errors asymptotically converge to zero according to the Barbalat lemma. The tracking performance is specified by a reference model, the convergence rate of Lyapunov function is specified by the matrix Q and the control action and the state weighting are restricted by the matrix Γ. The experimental results demonstrate the effectiveness of the proposed control. The maximum errors of the position and velocity with the integral action are reduced from 0.4 V and 1.5 V to 0.2 V and 0.4 V, respectively. The adaptive control with the integral action gives satisfactory performance, even when it suffers from input disturbance.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.