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第33届中国控制与决策会议

作者： Hao Lv Xuehui Gao YuanQi Li Dongwen Yan School of Intelligent Equipment Shandong University of Science and Technology

In the actual paste backfill process,there are many uncertain factors to degrade the backfill *** production changes and working conditions caused the controlled object to be difficult described by an accurate mathematical ***,a lot of conventional control effects are *** this paper,based on the established paste filling process model of our previous work,a model reference adaptive control is proposed,and its stability is verified by the Lyapunov stability *** proposed method can adjust the controller parameters to adapt to the parameter changes online,so that the tracking error of the system can gradually converge to zero by the proposed model reference adaptive control with the condition of model uncertainty or external *** proposed scheme is simulated by MATLAB,and the simulation results show that the proposed control strategy has good control performance.

关键词： paste backfill process model model reference adaptive control Lyapunov

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model reference adaptive control with linear-like closed-loop behavior

arXiv

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arXiv 2021年

作者： Shahab, Mohamad T. Miller, Daniel E. Thuwal23955 Saudi Arabia Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada

It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the d-step ahead control settings that if, as part of the adaptive controller, a parameter estimator based on the original projection algorithm is used and the parameter estimates are restricted to a convex set, then the closed-loop system experiences linear-like behavior: exponential stability, a bounded gain on the noise in every p-norm, and a convolution bound on the exogenous inputs;this can be leveraged to provide tolerance to unmodelled dynamics and plant parameter time-variation. In this paper, we extend the approach to the more general model reference adaptive control (MRAC) problem and demonstrate that we achieve the same desirable linear-like closed-loop properties. © 2021, CC BY.

关键词： model reference adaptive control

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A Three-Cable Driven Planar Parallel Robot: Closet Set Searching Kinematics and model reference adaptive control 21

A Three-Cable Driven Planar Parallel Robot: Closet Set Searc...

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21st International Conference on control, Automation and Systems (ICCAS)

作者： Kim, Jihwan Oh, Ethan Kim, Mincheol Kim, Eui-Sun Korea Inst Med Microrobot Gwangju 61011 South Korea Montgomery Blair High Sch Silver Spring MD 20291 USA

ISBN: (纸本)9788993215212

Cable-driven parallel robot (CDPR) has advantages including a reconfigurable workspace and lightweight actuators. The goal of this study is to develop a three-cable driven planar parallel robot that can be utilized for upper arm exercise toward routine practice. To make a repetitive practice motion on a patient's desk, we designed and prototyped a robotic system based on the three-cable driven planar parallel robot that can minimize the number of cable and related parts. Forward kinematics is derived with a novel closet set searching method and a model reference adaptive controller is designed for the desired trajectory tracking. The experimental results show that the root mean square error (RMSE) was 2.17 and 2.09 mm for a circle trajectory and 1.33 mm and 3.29 mm for a line trajectory, along with the x- and y-axis. We could confirm that the prototyped three-cable planer CDPR has the possibility to adapt in routine exercise or rehabilitation requiring repetitive motions with easy installation.

关键词： Cable-Driven Parallel Robot Robot Kinematics model reference adaptive control

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Optimal model reference adaptive control of spar-type floating wind turbine based on simulated annealing algorithm

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OCEAN ENGINEERING 2022年 255卷

作者： Mu, Anle Huang, Zebo Liu, Anbang Wang, Jiahui Yang, Bin Qian, Ye Xian Univ Technol Sch Mech & Precis Instrument Engn Xian 710048 Shaanxi Peoples R China

Carbon neutrality has led to an explosion in renewable energy, such as floating wind turbine (FWT). However, stability and safety become the main bottleneck in the development of FWTs. In this paper, an active vibration control system is designed to improve the stability of Spar-type FWT. The dynamic model of Spar-type FWT was established, and the model was linearized according to the actual situation of wind turbine. The vibration control of wind turbine structure is analyzed by using tuned mass damper (TMD) active control and the designed active linear quadratic regulator (LQR) algorithm. The weight of LQR controller is designed by simulated annealing (SA) algorithm to eliminate the subjectivity of parameter selection. The analysis shows that compared with the wind turbine system under the passive control system, the deflection angular displacement of the tower of the wind turbine decreases by 80.4% and the deflection angular velocity decreases by 67.6%. The deflection angular displacement of Spar platform decreased by 47.2% and the deflection angular velocity decreased by 37.7%. The optimal model reference adaptive control (MRAC) is designed to solve the uncertainty of structural parameters and loads of wind turbine system. Simulation results show that the proposed method can accurately and quickly track the optimal trajectory with SA-LQR control as the reference model, and realize the real-time optimal control of Spar-type FWT vibration system. All the results show that the method reported here can greatly improve the stability and safety of Spar-type FWTs.

关键词： Spar-type floating wind turbine Vibration control Linear quadratic regulator Simulated annealing algorithm model reference adaptive control

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Variable Structure model reference adaptive control for Squirrel-Cage Induction Generator-Based Wind Energy Conversion Systems 14

Variable Structure Model Reference Adaptive Control for Squi...

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14th IEEE International Conference on Industry Applications (INDUSCON)

作者： de Azevedo, Ismael A. Barros, Luciano S. Cunha, Caio D. Fed Univ Rio Grande do Norte UFRN Natal RN Brazil Fed Univ Paraiba UFPB Joao Pessoa Paraiba Brazil

ISBN: (纸本)9781665441186

Squirrel cage induction generator is a low cost and robust alternative for grid-connected variable speed wind energy conversion systems. For maximum power point tracking of these systems, conventional vector control strategies may face some difficulties such as: model parameter uncertainties, variable reference and cross-coupled disturbances. adaptive controllers may offer good reliability and robustness against these issues, but the traditional model reference adaptive control has a slow response in the transient, for these reasons, in this work a variable structure model reference adaptive controller is applied, since it has a faster transient response. In order to test the proposed controller, it is compared to the conventional PI control and the model reference adaptive control through Matlab/Simulink simulations. Flux and torque are controlled by a cascaded loop-based vectorial strategy. The results suggest that adaptive controllers are the best in a parametric uncertainty scenery, and the variable structure model reference adaptive control presented a faster transient response.

关键词： model reference adaptive control Squirrel Cage Induction Generator Uncertainties and Unmodeled Dynamics Variable Structure control Wind Energy

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Experimental study on a novel simultaneous control and identification of a 3-DOF delta robot using model reference adaptive control

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EUROPEAN JOURNAL OF control 2022年第0期67卷

作者： Tamizi, Mehran Ghafarian Kashani, Ali Akbar Ahmadi Azad, Faraz Abed Kalhor, Ahmad Masouleh, Mehdi Tale Univ Tehran Sch Elect & Comp Engn Human & Robot Interact Lab Tehran Iran Univ Tehran Control & Intelligent Proc Ctr Excellence Sch Elect & Comp Engn Tehran Iran Michigan Technol Univ Coll Engn Houghton MI USA

Delta robot is one of the most widely used parallel robots in the robotics industry. Therefore, it is vital to employ appropriate methods to control Delta robot in order to perform a specific task. modeling parallel robots is a complex and time consuming task where model-based methods which are mainly dependent to accurate modeling, lose their performance in confronting with model uncertainties and disturbances. In this paper, a novel simultaneous control-and-identification structure is proposed for Multi-Input Multi -Output (MIMO) time-varying systems with unknown parameters which guarantees closed-loop stability and simultaneous identification in presence of model uncertainties and disturbances. Therefore, the un-known parameters of system can be acquired without any prior knowledge from the outset;thus, the suggested method becomes more attractive for robotics system having sophisticated models. For the pur-pose of this paper, the proposed algorithm is practically implemented on a 3 Degrees-of-Freedom (DOF) Delta parallel robot. The result of simulation and practical implementation are compared with three well known methods which have been previously implemented on the robot, namely PID, adaptive method, and sliding mode control algorithm. In this regard, the results both in simulation and practical implemen-tation reveal remarkable performance for the suggested method in compare with other aforementioned algorithms.(c) 2022 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Simultaneous control -and -identification model reference adaptive control Unknown parameters 3-DOF Delta robot

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Integrated model reference adaptive control to coordinate active front steering and direct yaw moment control

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ISA TRANSACTIONS 2020年 106卷 85-96页

作者： Ahmadian, Narjes Khosravi, Alireza Sarhadi, Pouria Babol Noshirvani Univ Technol Dept Elect & Comp Engn Shariati Av Babol Mazandaran Iran Univ Surrey Fac Engn & Phys Sci Dept Mech Engn Sci Guildford Surrey England

The paper proposes an integrated adaptive coordination technique for active front steering (AFS) and direct yaw moment control (DYC). The main contribution is to present an integrated multi-input multi-output (MIMO) adaptive control method to manage the variations of vehicle mass and tire-road friction coefficient as parameter uncertainties. The proposed integrated control strategy encompasses two: upper and lower control layers. At the upper control layer, there is a model reference adaptive controller responsible for generating additive steering angle and corrective yaw moment. The coordination between AFS and DYC is realized using a gain scheduling mechanism based on a stability index. At the lower control layer, the desired yaw moment is converted to the brake torque before being applied to the rear wheels. Three critical and important high-speed lane-change maneuvers are considered. The simulation results confirm that the proposed control structure can reduce the sideslip angle and lateral acceleration. Furthermore, the system tracking performance in terms of handling and stability in different maneuvers is improved. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： model reference adaptive control Active front steering Direct yaw moment control Integrated control

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Fractional-order robust model reference adaptive control of piezo-actuated active vibration isolation systems using output feedback and multi-objective optimization algorithm

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JOURNAL OF VIBRATION AND control 2020年第1-2期26卷 19-35页

作者： Kang, Shengzheng Wu, Hongtao Yang, Xiaolong Li, Yao Wang, Yaoyao Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn 29 Yudao St Nanjing 210016 Jiangsu Peoples R China CUNY City Coll Dept Mech Engn Lab Biomechatron & Intelligent Robot New York NY 10023 USA

Improving the control performance of active vibration isolation systems is crucial to provide an ultra-quiet environment for precision instruments. This paper presents a new fractional-order robust model reference adaptive controller for the piezo-actuated active vibration isolation systems with a relative-degree-one model. One advantage of the proposed controller lies in that its controller parameters are adjusted online by fractional proportional-integral-type adaptive laws, which not only speeds up the convergence of the closed-loop system, but also improves the control energy efficiency. Moreover, the proposed controller only uses the measurable input and output of the plant as feedback signals, which is convenient for controller implementation. The stability of the closed-loop system is proved based on the Lyapunov theory in detail. The optimal values of the fractional order and adaptive gains for adaptive laws are determined using the multi-objective genetic algorithm through off-line simulation. Comparative experiments on the piezo-actuated active vibration isolation systems are conducted to verify the effectiveness of the proposed controller. Results show that the proposed controller achieves satisfactory isolation performance in a wider frequency band of 20-500 Hz, and simultaneously reduces the control effort compared with the traditional MRAC methods.

关键词： Active vibration control model reference adaptive control fractional adaptive law piezoelectric actuator multi-objective optimization

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Constrained dynamical systems, robust model reference adaptive control, and unreliable reference signals

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INTERNATIONAL JOURNAL OF control 2020年第5期93卷 1039-1052页

作者： L'Afflitto, Andrea Blackford, Timothy A. Univ Oklahoma Sch Aerosp & Mech Engn Norman OK 73019 USA

In this paper, we address the robust control design problem for nonlinear dynamical systems tracking unreliable reference signals. Specifically, we present robust model reference adaptive control laws that guarantee uniform ultimate boundedness of the trajectory tracking error for nonlinear plants that are affected by matched, unmatched, and parametric uncertainties, and are subject to constraints on the state space and the measured output. These control laws guarantee satisfactory results even in case the reference trajectory or the reference output signal do not verify the given constraints and hence, may draw the plant's trajectory or measured output outside their constraint sets. A numerical example involving the attitude control of a spacecraft illustrates the feasibility of the theoretical results presented.

关键词： Barrier Lyapunov functions constraints on the state space model reference adaptive control e-modification projection operator

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Robust model reference adaptive control for transient performance enhancement

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2020年第15期30卷 6207-6228页

作者： Yang, Jun Na, Jing Gao, Guanbin Kunming Univ Sci & Technol Fac Mech & Elect Engn Kunming 650500 Yunnan Peoples R China

To circumvent the potentially poor transient response induced by nonlinear uncertain dynamics in the adaptive control system, this article proposes a new model reference adaptive control design scheme to improve its transient control response. We first construct a compensator to online extract the undesired dynamics in the online learning, which is incorporated into the reference model and control simultaneously. Then, an error feedback term is incorporated into the reference model to speed up the convergence of both the compensator and tracking error. Moreover, a new leakage term containing the estimation error is constructed and then added in the adaptive law to guarantee the convergence of both the estimation error and tracking error. To further reveal the mechanisms behind these proposed methods, a new methodology to analyze the transient error bounds based on L-2-norm and Cauchy-Schwartz inequality is also developed. Based on the analysis results, we find that the proposed methods can effectively reduce the bound of the tracking error and thus achieve an improved transient control performance without violating the system stability even with high-gain adaptation. In addition, the frequency-domain analysis is resorted to show the comparative responses of different adaptive laws, which indicate that the proposed adaptive law can maintain the stability margin even with a high-gain learning rate. A numerical example is given to demonstrate improved control responses of these proposed schemes.

关键词： frequency-domain analysis model reference adaptive control nonlinear uncertain dynamics parameter estimation robustness transient performance

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