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发布时间：2019-03-09

论文类型：期刊论文

发表时间：2013-04-01

发表刊物：SENSORS

收录刊物：Scopus、PubMed、EI、SCIE

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.