Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors
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 trac...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2013-04-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/13/4/4742 |
| _version_ | 1811280001328218112 |
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| author | Lei Liu Yu-Guang Bai Shu-Nan Wu Guo-Qiang Wu |
| author_facet | Lei Liu Yu-Guang Bai Shu-Nan Wu Guo-Qiang Wu |
| author_sort | Lei Liu |
| collection | DOAJ |
| description | 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 . 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. |
| first_indexed | 2024-04-13T01:07:01Z |
| format | Article |
| id | doaj.art-b651832c087b4637a2c93b50b29746d4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T01:07:01Z |
| publishDate | 2013-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b651832c087b4637a2c93b50b29746d42022-12-22T03:09:20ZengMDPI AGSensors1424-82202013-04-011344742475910.3390/s130404742Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer SensorsLei LiuYu-Guang BaiShu-Nan WuGuo-Qiang WuIn 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 . 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.http://www.mdpi.com/1424-8220/13/4/4742MRACintegral actionLyapunov stabilityasymptotical convergence |
| spellingShingle | Lei Liu Yu-Guang Bai Shu-Nan Wu Guo-Qiang Wu Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors Sensors MRAC integral action Lyapunov stability asymptotical convergence |
| title | Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors |
| title_full | Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors |
| title_fullStr | Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors |
| title_full_unstemmed | Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors |
| title_short | Experimental Studies on Model Reference Adaptive Control with Integral Action Employing a Rotary Encoder and Tachometer Sensors |
| title_sort | experimental studies on model reference adaptive control with integral action employing a rotary encoder and tachometer sensors |
| topic | MRAC integral action Lyapunov stability asymptotical convergence |
| url | http://www.mdpi.com/1424-8220/13/4/4742 |
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