In this paper, we develop a simple model reference adaptive control (MRAC) scheme for a class of multi-input-multi-output (MIMO) linear dynamic systems with unknown state delay which is also robust with respect to an ...
详细信息
In this paper, we develop a simple model reference adaptive control (MRAC) scheme for a class of multi-input-multi-output (MIMO) linear dynamic systems with unknown state delay which is also robust with respect to an external disturbance with unknown bound. A suitable Lyapunov–Krasovskii type functional with “virtual” gain is introduced to design the adaptation algorithms and to prove stability.
In this paper we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time-varying state delays which is robust with respect to unknown plant del...
详细信息
ISBN:
(纸本)9780791843352
In this paper we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time-varying state delays which is robust with respect to unknown plant delays, to a nonlinear perturbation, and to an external disturbance with unknown bounds. Art appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and to prove stability.
The problem of performance robustness of model reference adaptive control (MARC) schemes under reduction in actuator effectiveness (loss-of-effectiveness) is studied in this paper. The reduction is modeled by an uncer...
详细信息
ISBN:
(纸本)9781424445233
The problem of performance robustness of model reference adaptive control (MARC) schemes under reduction in actuator effectiveness (loss-of-effectiveness) is studied in this paper. The reduction is modeled by an uncertain gain matrix representing the actuator effectiveness at the control inputs. MRAC systems are analyzed to determine the robustness of the desired closed-loop performance of stability and asymptotic tracking with respect to such reductions. Conclusions are drawn for direct multivariable MRAC as well as indirect MRAC for both continuous-time and discrete-time schemes. A simulation study is presented to illustrate some of the theoretical results.
A planar micro-gyroscope with inevitable imperfections is investigated in this paper. Owing to the imposed coupling accelerations such as quadrature error and cross-axis perturbation, the micro-machined gyroscope coul...
详细信息
ISBN:
(纸本)9780889868106
A planar micro-gyroscope with inevitable imperfections is investigated in this paper. Owing to the imposed coupling accelerations such as quadrature error and cross-axis perturbation, the micro-machined gyroscope could not be unconditionally retained at resonant mode. Once the preset resonance is not sustained, the performance of the micro-gyroscope is accordingly degraded. A direct model reference adaptive control (MRAC) loop which is integrated with a Modified Disturbance Estimating Observer (MDEO) is proposed to guarantee the resonant oscillations at drive mode and counterbalance the undesired disturbance caused by quardrature error and cross-axis perturbation. The parameters of controller are on-line innovated by the dynamic error between the MDEO output and expected response.
This paper deals with the improved design of stable modelreferenceadaptive systems, by introducing a nonlinear adaptation gain. Uniform asymptotic stability of the system is demonstrated for both state and output fe...
详细信息
ISBN:
(纸本)9781424445233
This paper deals with the improved design of stable modelreferenceadaptive systems, by introducing a nonlinear adaptation gain. Uniform asymptotic stability of the system is demonstrated for both state and output feedback cases. A simulation example shows the effectiveness of the proposed approach when large parameter variations and disturbances are active. It is also being applied to control a real printing system.
Hebbian associative learning is a common form of neuronal adaptation in the brain and is important for many physiological functions such as motor learning, classical conditioning and operant conditioning. Here we show...
详细信息
ISBN:
(纸本)9781424438723
Hebbian associative learning is a common form of neuronal adaptation in the brain and is important for many physiological functions such as motor learning, classical conditioning and operant conditioning. Here we show that a Hebbian associative learning synapse is an ideal neuronal substrate for the simultaneous implementation of high-gain adaptivecontrol (HGAC) and model-referenceadaptivecontrol (MRAC), two classical adaptivecontrol paradigms. The resultant dual adaptivecontrol (DAC) scheme is shown to achieve superior tracking performance compared to both HGAC and MRAC, with increased convergence speed and improved robustness against disturbances and adaptation instability. The relationships between convergence rate and adaptation gain/error feedback gain are demonstrated via numerical simulations. According to these relationships, a tradeoff between the convergence rate and overshoot exists with respect to the choice of adaptation gain and error feedback gain.
A Fuzzy Indirect model reference adaptive control (FIMRAC) algorithm is proposed for launch vehicle attitude control system. Considering the structure perturbation and uncertain outer disturbance in the process of fli...
详细信息
A Fuzzy Indirect model reference adaptive control (FIMRAC) algorithm is proposed for launch vehicle attitude control system. Considering the structure perturbation and uncertain outer disturbance in the process of flight, such as elastic vibration and liquid sway, the algorithm based on stable referencemodel is designed so as to track a reference signal, using the feedback of state. Meanwhile, the algorithm can effectively restrain elastic vibration, liquid sway and compensate outer disturbance, by online adjusting the parameters of adaptive law and introducing the mechanism of fuzzy inference. Besides, it is proved that the control system is global, asymptotical and stable, according to Lyapunov stability theory. Simulation results show that the algorithm is effective for launch vehicle attitude control system and has stronger robustness property for outer disturbance.
In this paper the Dual-Mode adaptive Robust controller (DMARC) is presented. The DMARC is a control strategy which interpolates the model reference adaptive control (MRAC) and the Variable Structure modelreference Ad...
详细信息
In this paper the Dual-Mode adaptive Robust controller (DMARC) is presented. The DMARC is a control strategy which interpolates the model reference adaptive control (MRAC) and the Variable Structure model reference adaptive control (VS-MRAC). The main idea is to develop a robust controller to parametric uncertainties and external disturbances with good transient characteristics (fast response and small oscillations) as in a VS-MRAC and good steady-state characteristics (smooth control signal) as in a conventional MRAC.
The paper discussed an adaptive friction compensation scheme based on Coulomb friction and a parameter *** modelreferenceadaptive system based on Coulomb friction was designed to compensate the friction *** designed...
详细信息
The paper discussed an adaptive friction compensation scheme based on Coulomb friction and a parameter *** modelreferenceadaptive system based on Coulomb friction was designed to compensate the friction *** designed modelreferenceadaptive parameter identifier was combined with the adaptive friction compensation system and the mover mass was identified by the parameter identifier to update mover mass in the model reference adaptive control system based on Coulomb *** results show that the position tracking precision of system and robustness were improved.
This paper deals with the improved design of stable modelreferenceadaptive systems, by introducing a nonlinear adaptation gain. Uniform asymptotic stability of the system is demonstrated for both state and output fe...
详细信息
ISBN:
(纸本)9781424445233
This paper deals with the improved design of stable modelreferenceadaptive systems, by introducing a nonlinear adaptation gain. Uniform asymptotic stability of the system is demonstrated for both state and output feedback cases. A simulation example shows the effectiveness of the proposed approach when large parameter variations and disturbances are active. It is also being applied to control a real printing system.
暂无评论