2016年 第11卷 第2期
《机械工程前沿（英文）》 >> 2016年 第11卷 第2期 doi: 10.1007/s11465-016-0386-x
Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller
1. Department of Mechanical Engineering, York University, Toronto M3J 1P3, Canada.
2. Department of Automotive, Mechanical, and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa L1H 7K4, Canada
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摘要
This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID+MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID+MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID+MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.
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