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Time-Delay Margin Analysis for an adaptive controller

JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第5期35卷 1418-1425页

作者： Dorobantu, Andrei Seiler, Peter Balas, Gary J. Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA

adaptive control has the potential to improve the performance and reliability of aircraft systems. Implementation of adaptive control on commercial and military aircraft requires the flight control system to be verified and validated with respect to modeling error, uncertainty, and time delay. Currently, there is a lack of tools available to rigorously analyze the robustness of adaptive controllers due to their inherently nonlinear dynamics. Newly proposed nonlinear robustness analysis tools are applied to adaptive flight control in this paper. A standard model reference adaptive controller with sigma modification is designed for a linear short-period aircraft model. The resulting nonlinear closed-loop system is governed by polynomial dynamics. The nonlinear analysis algorithms rely on sum-of-squares polynomial optimization to assess the robustness of the adaptive closed-loop system with respect to a time delay. Time-delay margins are computed for various combinations of design parameters in the adaptive control law, as well as in the presence of parametric model uncertainty. Advantages and limitations of the proposed sum-of-squares-based robustness analysis are presented. Analysis results show a significant promise in the context of recent development in nonlinear robustness analysis.

关键词： model reference adaptive control Flight control System Military Aircraft Aircraft Systems Nonlinear Dynamics Monte Carlo Simulation Nonlinear Systems Elevator Deflection adaptive Flight control System adaptive control Systems

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adaptive Loop Transfer Recovery

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JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第3期35卷 807-815页

作者： Calise, Anthony J. Yucelen, Tansel Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

In this paper, a new modification term for use in adaptive control is developed to improve robustness of an existing design. The objective is to recover the loop transfer properties of a reference model associated with a nonadaptive control design. Consequently, this term can increase the level of confidence of an adaptive control system for purposes of increased flight safety. An illustrative example on an unmanned combat aerial vehicle model is provided to illustrate the efficacy of the proposed approach.

关键词： model reference adaptive control Unmanned Combat Aerial Vehicle adaptive control Systems Flight Safety control Surfaces Aircraft Flight control Singular Perturbation Kalman Filter Thrust Vector control Angle of Attack

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modeling and Direct adaptive control of a Flexible-Joint Manipulator

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JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第1期35卷 25-39页

作者： Ulrich, Steve Sasiadek, Jurek Z. Barkana, Itzhak Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada Barkana Consulting IL-47209 Ramat Hasharon Israel

This paper addresses the problem of adaptive trajectory control of space manipulators that exhibit elastic vibrations in their joints and that are subject to parametric uncertainties and modeling errors. First, it presents a comprehensive study of rigid and linear flexible-joint stiffness models, to propose a dynamic formulation that includes nonlinear effects such as soft-windup and time-varying joint stiffness. Second, it develops an adaptive composite control scheme for tracking the end effector of a two-link flexible-joint manipulator. The control scheme consists of a direct model reference adaptive system designed to stabilize the rigid dynamics and a linear correction term to improve damping of vibrations at the joints. Numerical simulations compare the performance of the adaptive controller with its nonadaptive version in the context of a 12.6 x 12.6 m square trajectory tracking. Results obtained with the adaptive control strategy show an increased robustness to modeling errors and uncertainties in joint stiffness coefficients, and greatly improved tracking performance, compared with the nonadaptive strategy.

关键词： model reference adaptive control Flexible Manipulators Numerical Simulation Elastic Vibration Flexible Space Manipulators Robots Quasi Steady States Full State Feedback Inertial Cross Coupling Kinetic Energy

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Design of an adaptive controller for a Remotely Operated Air Vehicle

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JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第2期35卷 406-422页

作者： Crespo, Luis G. Matsutani, Megumi Annaswamy, Anuradha M. NIA Hampton VA 23666 USA MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

This paper presents an augmented control architecture for safe flight. This architecture consists of a nominal controller that provides satisfactory performance under nominal flying conditions and a direct model reference adaptive controller that provides robustness to parametric uncertainty. The design, implementation, tuning, and robustness analysis procedures of both the nominal and augmented controllers are presented. The aim of these procedures, which encompass both theoretical and practical considerations, is to develop a controller suitable for flight. The architecture proposed is applied to the NASA generic transport model. This is a model of a transport aircraft for which both a dynamically scaled flight-test article and a high-fidelity simulation are available. A robustness analysis framework, which bounds the set of adverse flying conditions for which all closed-loop requirements are met, indicates some advantages and drawbacks of adaptation. The adverse conditions considered are grouped into four categories: aerodynamic uncertainties, structural damage, unknown time delays, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine-out conditions. The requirements are fast pilot-command tracking, bounded structural loading, satisfactory transient response, bounded flight envelope, and satisfactory handling/riding qualities. A computational approach that integrates this robustness analysis framework and a design-optimization technique is proposed. This approach enables the systematic search for the controller's parameters that yield the best robustness characteristics allowed by the control structure.

关键词： Transport Aircraft model reference adaptive control Actuators Mean Aerodynamic Chord Flight Test Vehicle Structural Damage Structural Load Pilot in Command control Surfaces Elevator Deflection

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Multivariable adaptive Piecewise Linear control Design for NASA Generic Transport model

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JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第5期35卷 1559-1567页

作者： Sang, Qian Tao, Gang Univ Virginia Dept Elect & Comp Engn Charlottesville VA 22904 USA

Nonlinear plants with their operating range covering multiple trim points are modeled as piecewise linear systems, and variations in operating points are modeled as switches between constituent linearized system dynamics. The adaptive state feedback for the state tracking control problem for such systems is studied, for which piecewise linear reference model systems are used to generate desired state trajectories. adaptive control schemes are developed, and it is proved that asymptotic tracking performance can be achieved if the reference input is sufficiently rich and the switches are sufficiently slow. Stability and tracking performance of the proposed adaptive control schemes are analyzed and evaluated on the high-fidelity Simulink model of the Generic Transport model developed at NASA Langley.

关键词： model reference adaptive control NASA Langley Nonlinear Systems Aircraft Systems Level Flight Elevator Deflection Aircraft Flight control System Nonlinear control Feedback control Airspeed

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Design of adaptive I-PD control Systems using Augmented Error Method

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IFAC Proceedings Volumes 2012年第3期45卷 53-57页

作者： T. Shiota H. Ohmori Department of System Design Engineering Keio University Kanagawa JAPAN. Department ofSystem Design Engineering Keio University Kanagawa JAPAN

Proportional-Integral-Derivative (PID) controllers are undoubtedly the most employed controllers in industry. Also, since the so called exact model matching is impossible in the actual realities, the partial model matching from the lowest order term to as higher the term as possible is adopted by Kitamori. This controller has a structure which cousists of information about the controlled object and the reference model. PID can be obtained after some manipulation from the original solution. Thus a problem arises which is the superior, the original one or PID. In this paper, we propose adaptive I-PD controller using augmented error method for SISO systems. In addition, we show the effectiveness of the proposed method by the simulation result.

关键词： model reference adaptive control PID control SISO Time lag Transfer functions

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Sensorless Predictive Algorithm for Permanent Magnet Brushless DC Drives

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Journal of Energy and Power Engineering 2012年第7期6卷 1088-1096页

作者： Gianluca Brando Andrea Del Pizzo Gianluca Gatto Ignazio Marongiu Alessandro Serpi Department of Electrical Engineering University "Federico H" of Naples Naples 80138 Italy Department of Electrical and Electronic Engineering University ofCagliari Cagliari 09123 Italy

A high resolution speed and position identification algorithm, suitable for brushless DC drives, is presented in this paper. In particular, the algorithm is proposed for BLDC （brushless DC） machines that are characterized by an un-ideal trapezoidal emfs shape. The algorithm, which is developed basing upon the MRAS technique （model reference adaptive system） and the Popov＇s hyperstability criterion, guarantees the convergence of the estimated rotor speed and position signals to their corresponding actual values. The identification procedure can be performed starting from the knowledge of low resolution rotor position signals, phase currents and the BLDC emfs shape. The identification algorithm is properly tested on a BLDC drive controlled by a predictive algorithm, by performing a simulation study in the Matlab-Simulink environment. The corresponding results have highlighted the effectiveness of the proposed sensorless predictive control system, at both low and high speed operation.

关键词： Permanent magnet machines parameters estimation model reference adaptive control predictive control.

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Dynamical Trajectory Tracking control in Quantum Systems

Dynamical Trajectory Tracking Control in Quantum Systems

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31st Chinese control Conference

作者： Zhu Yaping Cong Shuang Liu Jianxiu Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China

ISBN: (纸本)9789881563811

Based on model reference adaptive control theory, we design a control law for a given closed quantum system model by means of the Lyapunov stability theorem by choosing a time-varying objective function as the reference model. Meanwhile, the problems of singularities and a very large value of the control fields during the tracking are solved by using an adaptive tracking algorithm. The simulation experiments realize the tracking task from the arbitrary initial states to the time-varying objective function. Under the effect of control law, the state of control system can track from the arbitrary initial state to the state of objective system. Simulation results demonstrate the ability of the control method proposed to adaptively adjust the control laws and real-time track dynamic target system.

关键词： model reference adaptive control quantum system Liouville equation adaptive tracking algorithm state trajectory tracking singularity

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Multi-closed loops strategy combined with torque correction for high precision tracking system

Multi-closed loops strategy combined with torque correction ...

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31st Chinese control Conference

作者： Li Jin-ying Fu Cheng-yu Xia Yun-xia Chinese Acad Sci Inst Opt & Elect Chengdu 610209 Peoples R China Chinese Acad Sci Key Lab Beam Control Chengdu 610209 Peoples R China Chinese Acad Sci Grad Univ Beijing 100049 Peoples R China

ISBN: (纸本)9789881563811

High precision tracking system has strict rapidity and smooth requirements of speed and torque. For the system is a direct drive structure, it is more sensitive to torque disturbances. Traditional current closed loop cannot suppress torque ripples caused by flux distortion of the motor. Torque closed loop's bandwidth is restricted and cannot provide fast torque response. Aimed at a high precision tracking system driven by a permanent magnet synchronous motor, multi-closed loops strategy combined with torque correction is proposed: Based on current closed loop and speed closed loop, torque coefficient is estimated by torque estimator, and used to correct current expectation. Simulation results show that the proposed control can provide high bandwidth torque response, suppress torque ripples caused by motor's flux harmonics, and has strong robustness to variances of motor parameters.

关键词： tracking multi-closed loops torque ripples model reference adaptive control torque estimator

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Minimal control Synthesis adaptive control of Continuous Bimodal Piecewise Affine Systems

Minimal Control Synthesis Adaptive Control of Continuous Bim...

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IEEE Annual Conference on Decision and control

作者： M. di Bernardo U. Montanaro S. Santini Department of Systems and Computer Engineering University of Naples Federico II National Council Research Istituto Motori

ISBN: (纸本)9781467320658

This paper reviews the derivation of a model reference adaptive control (MRAC) scheme for bimodal piecewiseaffine (PWA) continuous systems [9]. The algorithm is based on an extension of the minimal control synthesis algorithm, originally developed as an MRAC for smooth systems. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The effectiveness of the new proposed control strategy is shown by using it to achieve master slave synchronization of two PWA systems as a representative example.

关键词： model reference adaptive control waste assessments adaptive control Bimodal feedback controller control strategy derivation Affine In-law Piecewise Minimal

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