副教授 博士生导师 硕士生导师
性别: 男
毕业院校: 大连理工大学
学位: 博士
所在单位: 力学与航空航天学院
学科: 计算力学. 飞行器设计
办公地点: 综合一号实验楼(大白楼)409a室
联系方式: 微信号:dutaeroela_bai qq:274981071
电子邮箱: baiyg@dlut.edu.cn
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论文类型: 期刊论文
第一作者: Wu, Guo-Qiang
通讯作者: Bai, YG (reprint author), Dalian Univ Technol, State Key Lab Struct Anal Ind Equipment, Fac Vehicle Engn & Mech, Dalian 116024, Peoples R China.
合写作者: Wu, Shu-Nan,Bai, Yu-Guang,Liu, Lei
发表时间: 2013-04-01
发表刊物: SENSORS
收录刊物: SCIE、EI、PubMed、Scopus
卷号: 13
期号: 4
页面范围: 4742-4759
ISSN号: 1424-8220
关键字: MRAC; integral action; Lyapunov stability; asymptotical convergence
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 Gamma. 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.