This paper presents an adaptivecontrol system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions;therefore,...
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ISBN:
(纸本)9781424422227
This paper presents an adaptivecontrol system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions;therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from it's original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithm's performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results am shown that demonstrate improved tracking performance verses a fixed-gain configuration.
The problems of parameters uncertainty, disturbances, system vibration and asymmetric dynamic performance existed in asymmetric cylinder controlled by symmetric proportion valve system. To solve these problems, the mo...
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ISBN:
(纸本)9783540885160
The problems of parameters uncertainty, disturbances, system vibration and asymmetric dynamic performance existed in asymmetric cylinder controlled by symmetric proportion valve system. To solve these problems, the models of the forward and inverse kinematics and the electro-hydraulic proportion system for a robotic roadheader were established. In combination with the equilibrium point steady theory and the output error equation polynomial, a model reference adaptive controller was designed. The simulation results show that the designed model reference adaptive controller can effectively achieve accurate velocity control of the roadheader's cutter.
The hyperstability theory of adaptivecontrol systems is extended to encompass plants with unmodelled dynamics and disturbances. The analysis not only shows that leakage in the adaptive law is a natural way to avoid r...
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In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with state delay which is robust with respect to an unknown plant delay, to a nonlinear ...
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ISBN:
(纸本)9781424421992
In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with state delay which is robust with respect to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and the stability proof.
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 time-varying state delay which is also robust with r...
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ISBN:
(纸本)9781424420780
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 time-varying 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, a system which includes two ties (AC and DC), interconnecting two large AC networks, is studied. The system includes DC control interacting with the conventional AC area controls. In this regard, optima...
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ISBN:
(纸本)1424415446
In this paper, a system which includes two ties (AC and DC), interconnecting two large AC networks, is studied. The system includes DC control interacting with the conventional AC area controls. In this regard, optimal exploitation of classical controllers has been a controversial issue in reputable journals. In this article, the stability of the network in each of the areas is controlled by a new control method that is a model reference adaptive control method (MRAC) based on the combination of Linear Quadratic Regulator (LQR) control and the Genetic Algorithm (GA) is introduced. Genetic algorithm is employed to find the best values for gains of the controller in a very short time. The simulation results show an improvement in the dynamic performance of the test AC/DC system.
A simple design methodology of model reference adaptive control (MRAC) scheme with perturbation estimation for solving robust tracking problems is proposed in this paper. The plant to be controlled belongs to a class ...
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In this paper, a novel model reference adaptive control (MRAC) scheme based on neural network (NN) is proposed for servo system tracking control to achieve highprecision position control. This scheme consists of an MR...
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A fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainties in manual adjustments, a hybrid particle swarm optimiz...
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A fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainties in manual adjustments, a hybrid particle swarm optimization （HPSO） algorithm based on immune theory and nonlinear decreasing inertia weight （NDIW） strategy is proposed. Owing to the restraint factor and NDIW strategy, an HPSO algorithm can effectively prevent premature convergence and keep balance between global and local searching abilities. Meanwhile, the algorithm maintains the ability of handling multimodal and multidimensional problems. The HPSO algorithm has the fastest convergence velocity and finds the best solutions compared to GA, IGA, and basic PSO algorithm in simulation experiments. Experimental results on the AUV simulation platform show that HPSO-based controllers perform well and have strong abilities against current disturbance. It can thus be concluded that the proposed algorithm is feasible for application to AUVs.
In this paper, the main attention is focused on transient of control input signal, and then, we propose a novel model reference adaptive controller for SISO systems with relative degree less than three. When we contro...
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ISBN:
(纸本)9784907764296
In this paper, the main attention is focused on transient of control input signal, and then, we propose a novel model reference adaptive controller for SISO systems with relative degree less than three. When we control real devices by using the elementally conventional adaptivecontroller, we have an experience that high frequency oscillations with large amplitude occur in the control input signals. This is one of serious problems in actual applications. To generate a control input signal without oscillation, a novel estimator using an observer for the output tracking error signal is proposed. Using the estimator, it is shown theoretically that the control input signal converges with any convergent rate to an ideal input signal given by adding the exact model matching input signal and a smooth exponential damping signal. From the property it can be expected that. oscillations are hard to occur in the control input signals. Moreover, it is also proved theoretically that. the transient output error responses can be specified by setting design parameters.
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