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2nd IEEE International Conference on control, Measurement and Instrumentation, CMI 2021

作者： Pal, Mita Barai, Ranjit Kumar Sarkar, Gautam Roy, Tamal Jadavpur University Electrical Engineering Department Kolkata India MCKV Institute of Engineering Electrical Engineering Department Liluah Howrah India

ISBN: (纸本)9781728193427

Initial undershoot is an unavoidable and undesirable common phenomenon in the step response of the Non-minimum phase (NMP) system and it creates difficulties in tracking control of the NMP system. Odd and even number of right half-plane (RHP) zeros of transfer function model of the NMP system produce initial undershoot and overshoot respectively and it creates an obstacle in the tracking control of the NMP system. To overcome these difficulties, the Lyapunov-based model reference adaptive control (MRAC) has been suggested here and the novelty of this technique is that it not only nullifies undershoots and overshoots, but it also tracks the reference input trajectory simultaneously. Different SISO NMP systems have been considered for the verification of suggested control methodology and one benchmark two input two output (TITO) NMP system has been considered to strengthen its claim on the elimination of unacceptable initial undershoot of the NMP system in MATLAB simulation environment. © 2021 IEEE.

关键词： model reference adaptive control

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sEMG-based variable impedance control of lower-limb rehabilitation robot using wavelet neural network and model reference adaptive control

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2020年第3期47卷 349-358页

作者： Hasanzadeh Fereydooni, Rohollah Siahkali, Hassan Shayanfar, Heidar Ali Mazinan, Amir Houshang Islamic Azad Univ Dept Elect Engn South Tehran Branch Tehran Iran

Purpose This paper aims to propose an innovative adaptive control method for lower-limb rehabilitation robots. Design/methodology/approach Despite carrying out various studies on the subject of rehabilitation robots, the flexibility and stability of the closed-loop control system is still a challenging problem. In the proposed method, surface electromyography (sEMG) and human force-based dual closed-loop control strategy is designed to adaptively control the rehabilitation robots. A motion analysis of human lower limbs is performed by using a wavelet neural network (WNN) to obtain the desired trajectory of patients. In the outer loop, the reference trajectory of the robot is modified by a variable impedance controller (VIC) on the basis of the sEMG and human force. Thenceforward, in the inner loop, a model reference adaptive controller with parameter updating laws based on the Lyapunov stability theory forces the rehabilitation robot to track the reference trajectory. Findings The experiment results confirm that the trajectory tracking error is efficiently decreased by the VIC and adaptively correct the reference trajectory synchronizing with the patients' motion intention;the model reference controller is able to outstandingly force the rehabilitation robot to track the reference trajectory. The method proposed in this paper can better the functioning of the rehabilitation robot system and is expandable to other applications of the rehabilitation field. Originality/value The proposed approach is interesting for the design of an intelligent control of rehabilitation robots. The main contributions of this paper are: using a WNN to obtain the desired trajectory of patients based on sEMG signal, modifying the reference trajectory by the VIC and using model reference control to force rehabilitation robot to track the reference trajectory.

关键词： Rehabilitation robot Surface electromyography model reference adaptive control Variable impedance controller

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Almost output regulation model reference adaptive control for switched systems: combined adaptive strategy

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2020年第3期51卷 556-569页

作者： Xie, Jing Yan, Hua Li, Shujiang Yang, Dong Shenyang Univ Technol Sch Informat Sci & Engn Shenyang 110870 Liaoning Peoples R China Southeast Univ Key Lab Measurement & Control Complex Syst Engn Nanjing Peoples R China Qufu Normal Univ Sch Engn Qufu Shandong Peoples R China

This paper proposes the almost output regulation model reference adaptive control problem for switched systems with parametric uncertainties and multiple types of disturbances. By the almost output regulation model reference adaptive control strategy, the parametric uncertainties are suppressed and the multiple types of disturbances are rejected, simultaneously. In order to improve the transient performance of switched systems, the combined model reference adaptive control strategy is applied. A key point is to set up the almost output regulation model reference adaptive control strategy to achieve the tracking and the disturbance rejection performance. First, we design a switched identification model to estimate the plant uncertain parameters, by which more accurate plant parameters will be obtained. Secondly, based on the switched identification model, controllers with combined adaptive laws and a state-dependent switching law are designed to solve the almost output regulation model reference adaptive control problem for switched systems. Finally, a sufficient condition is given, which guarantees that the problem of the almost output regulation model reference adaptive control for switched systems is solvable in spite of the problem of almost output regulation model reference adaptive control for each subsystem is not solvable.

关键词： Switched systems model reference adaptive control output regulation combined adaptive control disturbance rejection

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Improving transient performance of discrete-time model reference adaptive control architectures

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2020年第7期34卷 901-918页

作者： Dogan, K. Merve Yucelen, Tansel Haddad, Wassim M. Muse, Jonathan A. Univ S Florida Mech Engn Tampa FL 33620 USA Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA US Air Force Res Lab Dayton OH USA

Discrete-time adaptive control algorithms can be executed directly in embedded code unlike their continuous-time counterparts, which require discretization. However, their designs predicated on quadratic Lyapunov-based frameworks are quite intricate due to the resulting complexity in the Lyapunov difference expressions. Therefore, a wide array of available continuous-time results addressing transient performance issues using adaptive control algorithms cannot be applied or readily extended to the discrete-time case. In this article, we present a new model reference adaptive control architecture for discrete-time uncertain dynamical systems. Specifically, the proposed architecture consists of a command governor mechanism that adjusts the trajectory of a given command during the closed-loop transient response. It is shown that this mechanism is effective in improving transient performance of discrete-time model reference adaptive control architectures. Using a logarithmic Lyapunov function, we prove Lyapunov stability of the closed-loop system as well as asymptotic convergence of the system error states involving the difference between the states of the uncertain dynamical system and the states of the reference model, as well as driving the command governor signal to zero.

关键词： discrete-time uncertain dynamical systems model reference adaptive control stability analysis transient performance improvement

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State and Input Constrained model reference adaptive control

arXiv

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arXiv 2022年

作者： Ghosh, Poulomee Bhasin, Shubhendu Department of Electrical Engineering Indian Institute of Technology Delhi New Delhi India

Satisfaction of state and input constraints is one of the most critical requirements in control engineering applications. In classical model reference adaptive control (MRAC) formulation, although the states and the input remain bounded, the bound is neither user-defined nor known a-priori. In this paper, an MRAC is developed for multivariable linear time-invariant (LTI) plant with user-defined state and input constraints using a simple saturated control design coupled with a barrier Lyapunov function (BLF). Without any restrictive assumptions that may limit practical implementation, the proposed controller guarantees that both the plant state and the control input remain within a user-defined safe set for all time while simultaneously ensuring that the plant state trajectory tracks the reference model trajectory. The controller ensures that all the closed-loop signals remain bounded and the trajectory tracking error converges to zero asymptotically. Simulation results validate the efficacy of the proposed constrained MRAC in terms of better tracking performance and limited control effort compared to the standard MRAC algorithm. © 2022, CC BY.

关键词： model reference adaptive control

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model reference adaptive control Design for the VEGA Launch Vehicle 7

Model Reference Adaptive Control Design for the VEGA Launch ...

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7th E-Health and Bioengineering Conference (EHB)

作者： Boglis, Ioana-Carmen Stoica, Adrian M. Univ Politehn Bucuresti Fac Aerosp Engn Str Gheorghe Polizu 1Sect 1 Bucharest 011061 Romania Mil Tech Acad Ferdinand I Ctr Excellence Selfpropelled Syst & Technol Def & 39-49 George Cosbuc AveSect 5 Bucharest 050141 Romania

ISBN: (纸本)9781728126036

A model reference adaptive control is implemented for a rigid launching vehicle and its robustness is tested for various scenarios, including the failure ones. Then the bending modes are included, as the flexibility of the launching vehicle can cause instability. The results show that the model reference adaptive control can ensure a good tracking and performance of the Vega launch vehicle, guaranteeing stability.

关键词： flexible launching vehicle model reference adaptive control robustness augmentation

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Anti-Chaos control of a servo system using nonlinear model reference adaptive control

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CHAOS SOLITONS & FRACTALS 2021年 143卷 110581-110581页

作者： Asiain, Erick Garrido, Ruben IPN Dept Control Automat CINVESTAV Av IPN 2508 Mexico City 07360 DF Mexico

This work presents a method for anti-chaos control of a servo system affected by parametric uncertainty and constant disturbances. It is based on Nonlinear model reference adaptive control where the reference model corresponds to a chaotic Duffing oscillator. Only upper and lower bounds on the servo system input gain are assumed known beforehand. It is shown that the solutions of the closed-loop system are Uniformly Ultimately Bounded. Moreover, the chaotic behaviour of the servo system position is verified through the Largest Lyapunov Exponent. The proposed control methodology is tested through experiments. (c) 2020 Elsevier Ltd. All rights reserved.

关键词： Chaotization Anti-Chaos control Servo control model reference adaptive control

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adaptive Cruise control: A model reference adaptive control Approach 24

Adaptive Cruise Control: A Model Reference Adaptive Control ...

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24th International Conference on System Theory, control and Computing (ICSTCC)

作者： Abdullahi, Adamu Akkaya, Sirin AVL Res & Engn Istanbul Turkey Istanbul Tech Univ Grad Sch Sci Engn & Tech Mechatron Engn Dept Istanbul Turkey

ISBN: (纸本)9781728198095

This paper presents a model reference adaptive control (MRAC) based framework for vehicle adaptive cruise control systems. The linear longitudinal dynamic model is created with uncertainties in the state and input matrix. The controller structure aims to handle these uncertainties and also maintains the desired distance with the lead vehicle. To evaluate the performance of the proposed controller, several simulation studies are conducted by comparing the results with a linear state feedback controller via MATLAB/Simulink. Whereas the linear controller underperforms under uncertain conditions, it is seen that MRAC achieves the desired performance despite model uncertainties.

关键词： adaptive Cruise control model reference adaptive control Longitudinal control Vehicle dynamics

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Scalability in model reference adaptive control

Scalability in Model Reference Adaptive Control

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Jaramillo, Jesse Wilcher, Kevin Yucelen, Tansel Pakmeh, Mehrdad Univ S Florida Mech Engn Dept Lab Auton Control Informat & Syst Tampa FL 33620 USA Univ S Florida Lab Auton Control Informat & Syst Tampa FL 33620 USA OptoXense San Ramon CA 94583 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

In adaptive control, a known issue is that non-identical command profiles can produce non-identical closed-loop transient responses of an uncertain dynamical system. Even though adaptive controllers are ideal when it comes to dealing with uncertainties, the lack of being able to predict the nature of the transient response may become a serious disadvantage to the control engineer. Previously, a method called scalability [1,2] was created to scale the learning rates of the adaptive weight update law to allow for proportionally identical system responses when given non-identical command profiles. This paper establishes a new approach by constructing a weight update law that, by itself, allows for these scalable system responses. Our new method is applied to a numerical example to show its efficiency.

关键词： model reference adaptive control

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Hysteresis inverse compensation-based model reference adaptive control for a piezoelectric micro-positioning platform

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SMART MATERIALS AND STRUCTURES 2021年第1期30卷

作者： Zhou, Miaolei Wang, Yifan Zhang, Yannan Gao, Wei Jilin Univ Dept Control Sci & Engn Changchun 130022 Peoples R China

Piezoelectric micro-positioning (PMP) platform has been widely used in the field of high precision tracking and positioning in recent years. However, the PMP platform has inherent hysteresis non-linearity, and this characteristic poses challenges for high-precision positioning applications. In this paper, a Bouc-Wen (BW) model and a linear dynamic model are connected in series to describe the rate-dependent hysteresis characteristic of the PMP platform, and the cross-mutation-based two-population differential evolution algorithm and the recursive least square method are used to identify the unknown parameters. In order to eliminate the hysteresis non-linearity, a model reference adaptive controller based on inverse compensation is designed, then the stability of the controller is proved by Lyapunov theory. Finally, a series of comparative experiments are carried out on the PMP platform. The experiment results prove that the proposed rate-dependent BW model has a stronger ability to describe the hysteretic non-linearity than the classic BW model. Comparing with the inverse compensation-based controller and inverse compensation-based proportion-integration-differentiation controllers, the hysteresis inverse compensation-based model reference adaptive controller has better control performance.

关键词： piezoelectric micro-positioning platform hysteresis Bouc– Wen model model reference adaptive control

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