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Kalman Filter Modification in adaptive control

JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第2期33卷 426-439页

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

This paper presents a novel Kalman-filter-based approach for approximately enforcing a linear constraint in adaptive control. One application is that this leads to alternative forms for well-known modification terms such as e modification. It is shown that employing this approach does not increase the theoretical guaranteed ultimate bounds for the closed-loop error signals of an existing adaptive design. In addition, it leads to smaller tracking errors without incurring significant oscillations in the system response and without requiring high modification gain. Three novel modifications to classical adaptive laws are illustrated and tested on a model of wing rock dynamics.

关键词： model reference adaptive control Kalman Filter Nonlinear Systems adaptive control Systems Optimal control Theory Nonlinear Dynamics Gradient Method White Noise

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An adaptive controller for Inverter-Interfaced DGs Connected to Grids with a Wide Range of Unknown Impedances

An Adaptive Controller for Inverter-Interfaced DGs Connected...

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IEEE Energy Conversion Congress and Exposition (ECCE)

作者： Mao, Xiaolin Ayyanar, Raja Arizona State Univ GWC RM 206650 E Tyler Mall Tempe AZ 85287 USA

ISBN: (纸本)9781424452873

Significantly degraded dynamic performance, or even instability, can occur when connecting a distributed generator interfaced through an inverter to a grid whose impedance is significantly different than the one that the inverter is designed for. Previous solutions in the literature require measurement of the grid impedance and re-engineering of the inverter controller. In this paper, a novel, adaptive current control is proposed. It employs an embedded model reference adaptive control that turns the plant model with uncertainties into a known, desired model. Consequently, the controller can self-adapt to a wide range of grid impedances without problems of instability and degradation of dynamic performance. This allows mass manufactured inverters of a single design to be connected to grids of different stiffness. The design of the proposed controller and simulation verification results are presented.

关键词： adaptive control instability model reference adaptive control PV inverter weak grid

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Stochastic adaptive Predictive Temperature control for PET Blow Molding Machines

Stochastic Adaptive Predictive Temperature Control for PET B...

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5th IEEE Conference on Industrial Electronics and Applications

作者： Chang, Ya-Ling Tsai, Ching-Chih Natl Chung Hsing Univ Dept Elect Engn Taichung 40227 Taiwan

ISBN: (纸本)9781424450466

This paper presents a stochastic adaptive model reference predictive control (SMRPC) approach to achieving accurate temperature control for a polyethylene-terephthalate (PET) blow molding machine, which is experimentally modeled as a simple second-order system model with given long time delay. Based on this model, the adaptive model reference predictive controller with control weighting is derived based on the minimization of an expected generalized predictive control (GPC) performance criteria. A real-time adaptive SMRPC algorithm is proposed. Computer simulations show that the proposed control method is capable of giving accurate and satisfactory control performance under set-point changes and exogenous disturbances.

关键词： adaptive control generalized predictive control (GPC) predictive control PET blow molding machine temperature control model reference adaptive control

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Convergence stabilization by parameter tuning in robust fixed point transformation based adaptive control of underactuated MIMO systems

Convergence stabilization by parameter tuning in robust fixe...

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IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics, ICCC-CONTI 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Preitl, Stefan Precupt, Radu-Emil Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Obuda University Budapest Hungary Department of Automation and Applied Informatics Politehnica University of Timijoara Romania

ISBN: (纸本)9781424474332

The classical approaches in the adaptive control of Classical Mechanical Systems as the "adaptive Inverse Dynamics controller (AIDC)" or the "adaptive Slotine-Li controller (ASLC)", as well as several implementations of the idea of the "model reference adaptive control (MRAC)" have the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though in the lack of unknown external disturbances this approach normally guarantees global asymptotic stability, it requires the use of complicated, slow, non-optimal tuning process with high computational burden. Furthermore, unknown external perturbations or the presence of not modeled, dynamically coupled subsystems can completely fob this sophisticated tuning. Recently an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" were recommended for fully driven Classical Mechanical systems. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning it operates with Cauchy sequences that are convergent only within a local basin of attraction. This technique can well compensate the simultaneous effects of modeling errors and unknown external disturbances. At first time, in this paper, as a completion, a convergence stabilizing tuning process is recommended and applied for underactuated Classical Mechanical systems. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： model reference adaptive control

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Combining adaptive with Artificial Intelligence and Nonlinear Methods for Fault Tolerant control

Combining Adaptive with Artificial Intelligence and Nonlinea...

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23rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems

作者： Vargas-Martinez, Adriana Garza-Castanon, Luis E. ITESM Monterrey 64849 Nuevo Leon Mexico

ISBN: (纸本)9783642130328

In this article different schemes for Fault Tolerant control (FTC) based on adaptive control, Artificial Intelligence (AI) and Robust control are proposed. These schemes includes a model reference adaptive controller with a Neural Network and a PID controller optimized by a Genetic Algorithm (MRAC-PID-NN), a model reference adaptive controller with a Sliding Mode control (MRAC-SMC) and a classical model reference adaptive controller (MRAC). In order to compare the performance of these schemes. an Industrial Heat Exchanger was used as test bed in which two different types of faults (abrupt and gradual) with different magnitudes (10% and 20%) were simulated. The simulation results showed that the use of AI methods improves the FTC schemes, developing a robust control system against sensor faults and a wider threshold to accommodate actuator faults in comparison with the two other schemes.

关键词： Artificial Intelligence Fault Tolerant control model reference adaptive control Neural Network PID Sliding Mode control

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adaptive Force Feedback control for 3D Compensation of Physiological Motion in Beating Heart Surgery

Adaptive Force Feedback Control for 3D Compensation of Physi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Zarrouk, Zeineb Chemori, Ahmed Poignet, Philippe Univ Montpellier 2 CNRS LIRMM F-34392 Montpellier France

ISBN: (纸本)9781424466757

In this paper the problem of 3D physiological motion compensation in beating heart surgery is resolved by an adaptive control architecture based on model reference adaptive control (MRAC). The proposed control architecture uses the measures of the contact efforts applied by the surgical tool on the heart to assure force feedback. No a-priori information about motion characteristics is necessary. It includes a nonlinear feedback linearizing the robot dynamics and a velocity loop. Simulation results are presented to show the effectiveness of the proposed control architecture for 3D compensation of physiological motions in beating heart surgery. Furthermore, its robustness toward uncertainties on dynamic parameters and environment stiffness is shown.

关键词： 3d motion compensation adaptive force feedback control beating heart surgery cardiology force feedback medical robotics model reference adaptive control model reference adaptive control systems motion compensation nonlinear feedback linearization physiology physiology robot dynamics robot dynamics surgery

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Research of MRAC on Intervals between Arriving Flights controlling

Research of MRAC on Intervals between Arriving Flights Contr...

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22nd Chinese control and Decision Conference

作者： Zhao, Shiwei Hua, Keqiang Zhang, Peng Wei, Guo Civil Aviat Univ China Engn Tech Training Ctr Tianjin 300300 Peoples R China

ISBN: (纸本)9781424451821

In this paper, the problem of interval controlling between arriving flights is researched. According to character of arriving flights dynamic process, bring forward reasonable assumption, and convert problem of arriving flights' interval controlling, whose attribute is discrete event dynamic system, into problem of generalized dynamic system controlling. Through analyzing actual measuring data, establish model of arriving flights dynamic process by identification technology, and design arriving flights interval control system with method of model reference adaptive control (MRAC). Adopting MATLAB to carry out simulation, result shows that arriving flights' intervals variance obviously reduces and process of arriving flights becomes smooth. This supplies new way to research and develop air traffic control (ATC) assistant decision system, and realize ATC automation.

关键词： Interval controlling Discrete event Dynamic System model reference adaptive control Air Traffic control

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Boundary Tracking control for an Electrochemical Cell

Boundary Tracking Control for an Electrochemical Cell

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18th Annual International Mediterranean Conference on control and Automation (MED)

作者： Tenno, R. Mendelson, A. Aalto Univ Sch Sci & Technol Control Engn Grp Aalto 00076 Finland

ISBN: (纸本)9781424480920

This paper reports boundary tracking control for an electrochemical cell. The feedforward control law is derived from inversed problem for the given reference trajectory on the cathode boundary. The equations of optimal linear filtering are utilized to estimate an unknown time-varying linear parameter of the model. The feedforward control is complimented with a PI feedback control and adaptive control to track the desired reference signal in the case of model uncertainty and disturbances. The proposed control laws are simulated and shown to be effective.

关键词： model reference adaptive control

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MRAC + H_∞ Fault Tolerant control for Linear Parameter Varying Systems

MRAC + H<sub>∞</sub> Fault Tolerant Control for Linear Para...

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Conference on control and Fault-Tolerant Systems (SysTol)

作者： Vargas-Martinez, Adriana Puig, Vicenc Garza-Castanon, Luis E. Morales-Menendez, Ruben

ISBN: (纸本)9781424481545

Two different schemes for Fault Tolerant control (FTC) based on adaptive control, Robust control and Linear Parameter Varying (LPV) systems are proposed. These schemes include a model reference adaptive controller for an LPV system (MRAC-LPV) and a model reference adaptive controller with a H-infinity Gain Scheduling controller for an LPV system (MRAC-H-infinity GS-LPV). In order to compare the performance of these schemes, a Coupled-Tank system was used as testbed in which two different types of faults (abrupt and gradual) with different magnitudes and different operating points were simulated. Results showed that the use of a Robust controller in combination with an adaptive controller for an LPV system improves the FTC schemes because this controller was Fault Tolerant against sensor fault and had an accommodation threshold for actuator fault magnitudes from 0 to 6.

关键词： model reference adaptive control

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An adaptive control simulation study using pilot handling qualities evaluations

An adaptive control simulation study using pilot handling qu...

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AIAA Guidance, Navigation, and control Conference

作者： Campbell, Stefan F. Kaneshige, John T. Nguyen, Nhan T. Krishnakumar, Kalmanje S. SGT NASA Moffett Field CA 94035 United States NASA Ames Research Center Moffett Field CA 94035 United States Intelligent Systems Division Mail Stop 269-1 United States

ISBN: (纸本)9781600869624

Presented herein are the results of an adaptive control simulation study using metrics and pilot handling qualities on a generic commercial aviation aircraft. For this study, seven model reference adaptive control (MRAC) technologies were identified for investigation. Each technology was tuned using a consistent methodology based on metrics and specific design requirements. Additionally, each adaptive control technology was integrated with a preexisting dynamic-inversion baseline control architecture. Scenarios for evaluation were then designed using Cooper-Harper design criteria. This paper presents the development, execution, and results from the study;additional background material is provided in the references. Copyright © 2010 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： model reference adaptive control

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