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Predictor-Based model reference adaptive control

JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第4期33卷 1195-1201页

作者： Lavretsky, Eugene Gadient, Ross Gregory, Irene M. Boeing Co Huntington Beach CA 92647 USA NASA Langley Res Ctr Hampton VA 23681 USA

This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now-classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.

关键词： model reference adaptive control Elevator Deflection Pitching Damping Aircraft Dynamics Elevator Industrial Applications Nonlinear control Frequency Domain Damping Ratio Airspeed

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Transient performance improvement of model reference adaptive control: LMI-based resetting

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2018年第2期32卷 390-402页

作者： Davanipour, M. Khayatian, A. Dehghani, M. Shiraz Univ Sch Elect & Comp Engn Shiraz *** Iran

In this paper, a resetting mechanism is proposed to enhance the transient performance of model reference adaptive control. While the suggested method has a simple structure, it is capable of taking into account both the desired steady-state behavior and the transient response, simultaneously. Whenever the transient specification is not satisfying, there is a jump in the controller parameters. This jump is determined by designing an optimal reset law. At the reset times, the after-reset values of parameters are calculated based on a minimization problem. The considered cost function is a mixed H-2/H criterion, which minimizes the tracking error. The optimization problem is converted to an LMI formulation, and the reset law is designed by solving this LMI at certain reset times. To verify the effectiveness of the proposed approach, simulation results are presented.

关键词： linear matrix inequality model reference adaptive control reset control transient performance improvement

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Cross-coupling synchronous velocity control using model reference adaptive control scheme in an unsymmetrical biaxial winding system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2018年第9期232卷 1245-1259页

作者： Huy Hung Nguyen Van Tu Duong Kim, Dae Hwan Kim, Hak Kyeong Kim, Sang Bong Pukyong Natl Univ Coll Engn Dept Mech Design Engn 365 Sinseon Ro Busan 48547 South Korea Saigon Univ Fac Elect & Telecommun Ho Chi Minh City Vietnam

Motion control with high accuracy for each axial system is the fundamental requirement to reduce a synchronous motion error of a multi-axis system. Especially, designing a model-based controller for an uncertainty system with unknown parameters is not easy without using system identification. To overcome the mentioned issue, this article proposes a cross-coupling synchronous velocity controller using a backstepping-based model reference adaptive control scheme in an unsymmetrical biaxial winding system called a transformer winding system. The proposed controller deals not only with the uncertainty but also with the recursive structure of the system. The backstepping technique for the recursive structural system and the model reference adaptive control method for the uncertainty of the system are designed to stabilize two axial systems with unknown parameters. An auxiliary system is added to build the proposed controller for coping with input constraints of physical actuators. To improve the proposed controller's ability to cope with external disturbances, a dead-zone modification is utilized to modify the adaptation laws to avoid the drift phenomenon. Moreover, a cross-coupling mechanism is integrated into the proposed controller to reduce the synchronous velocity error between the velocities of the biaxial winding system. The proposed controller is also transformed into discrete time to be run on a digital signal processor alone chip. The experimental results are shown to verify the high performance and efficiency of the proposed controller for practical applications.

关键词： Multi-axis system cross-coupling synchronous velocity model reference adaptive control backstepping technique

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Optimization-based model reference adaptive control for dynamic positioning of a fully actuated underwater vehicle

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NONLINEAR DYNAMICS 2017年第4期87卷 2611-2623页

作者： Gao, Jian Wu, Puguo Li, Tianrui Proctor, Alison Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Peoples R China Ocean Floor Geophys Inc Burnaby BC V5J 5J3 Canada

This paper presents a predictive optimization-based model reference adaptive control (MRAC) approach for dynamic positioning (DP) of a fully actuated underwater vehicle subject to dynamic uncertainties and actuator saturation. Compared with conventional linear reference model-based approaches, this proposed MRAC controller utilizes an optimized reference model composed of the closed-loop approximate vehicle model under a nonlinear model predictive controller, in which both the state and input constraints are considered. An adaptive dynamic inversion controller is designed to track the reference trajectory in the presence of dynamic uncertainties, and a single hidden layer neural network is incorporated to compensate for the mismatch of the actual and approximate models and ensure the convergence of tracking errors. The effectiveness of the proposed DP approach is validated by comparative simulations performed with a remotely operated vehicle.

关键词： Underwater vehicles model reference adaptive control model predictive control Dynamic inversion Neural networks

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Relaxing the high-frequency gain sign assumption in direct model reference adaptive control

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EUROPEAN JOURNAL OF control 2018年 43卷 12-19页

作者： Gerasimov, Dmitry N. Ortega, Romeo Nikiforov, Vladimir O. ITMO Univ Dept Control Syst & Informat Kronverkskiy Av 49 St Petersburg 197101 Russia CNRS SUPELEC Lab Signaux & Syst F-91192 Gif Sur Yvette France

A new, high performance, solution to the classical problem of direct model reference adaptive control for linear time-invariant systems with unknown sign of the high frequency gain is reported in the paper. The proposed algorithm directly estimates this parameter with the only required prior knowledge of a lower bound on its absolute value. To avoid the possible appearance of singularities in the controller calculation a switched projection mechanism is introduced to change, if needed, the sign of the estimate. The recently introduced dynamic regressor extension and mixing estimator is used to ensure monotonicity of the estimation error of the high frequency gain, guaranteeing that the switching appears (at most) once and avoiding the possible appearance of chattering-that may happen in classical gradient-based algorithms. Comparative simulations with the Nussbaum gain-based and gradient estimators illustrate the dramatic performance improvement of the proposed controller. (C) 2018 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： model reference adaptive control Unknown control direction Fast parametric convergence

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Principal component analysis for nonlinear model reference adaptive control

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COMPUTERS & CHEMICAL ENGINEERING 2000年第1期24卷 99-110页

作者： McLain, RB Henson, MA Louisiana State Univ Dept Chem Engn Baton Rouge LA 70803 USA

A nonlinear adaptive control strategy based on radial. basis function networks and principal component analysis is presented. The proposed method is well suited for low dimensional nonlinear systems that are difficult to model and control via conventional means. The effective system dimension is reduced by applying nonlinear principal component analysis to state variable data obtained from open-loop tests. This allows the radial basis functions to be placed in a lower dimensional space than the original state space. The total number of basis functions is specified a priori, and an algorithm which adjusts the location of the basis function centers to surround the current operating point is presented. The basis function weights are adapted on-line such that the plant output asymptotically tracks a linear reference model. A highly nonlinear polymerization reactor is used to compare the nonlinear adaptive controller to a linear state feedback controller that utilizes the same amount of plant information. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： nonlinear systems radial basis function networks model reference adaptive control nonlinear principal component analysis polymerization reactor control

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Non-quadratic Lyapunov function and adaptive laws for model reference adaptive control

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ELECTRONICS LETTERS 1998年第23期34卷 2278-2280页

作者： Rao, MPRV Univ Ulster Sch Elect & Mech Engn Belfast BT37 0QB Antrim North Ireland

A non-quadratic Lyapunov function and new adaptive laws for model reference adaptive control are presented. These adaptive laws use a new signal. the cubr of the system output error signal e(3), unlike the ordinary system output error e. Their performance in an adaptive system is promising. Simulation results show that these adaptive laws yield improved performance, along with the assurance of Lyapunov stability.

关键词： Self-adjusting control systems stability adaptive laws adaptive system theory model reference adaptive control control system synthesis model reference adaptive control systems nonquadratic Lyapunov function Lyapunov stability Stability in control theory system output error signal control system analysis and synthesis methods Lyapunov methods adaptive control

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Observer-based model reference adaptive control for unknown time-delay chaotic systems with input nonlinearity

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NONLINEAR DYNAMICS 2012年第2期67卷 1337-1356页

作者： Adloo, Hassan Noroozi, Navid Karimaghaee, Paknosh Shiraz Univ Dept Elect & Comp Engn Shiraz *** Iran

Existence of unknown time-delay in the systems is a drastic restriction that it can menace the stability criteria and even deteriorate the performance system. This undesired case would be more intensified if that the uncertain input nonlinearity effects are also considered. To handle the input nonlinearities effects (results in dead-zone and/or hysteresis phenomena) and also unknown time-delay in the chaotic systems, this paper presents an observer-based model reference adaptive control (MRAC) scheme for a class of unknown time-delay chaotic systems with disturbances. This new method is a delay-independent variable-structure control method which is integrated with an observer system. The main task of the proposed approach is to accomplish a perfect tracking procedure such that unknown parameters are adapted via output estimation error. Furthermore, stability of the closed-loop system is achieved by means of the Lyapunov stability theory. Finally, the proposed methods are applied to some famous chaotic systems to verify the effectiveness of the proposed methods.

关键词： Chaos control model reference adaptive control Observer-based system Dead-zone and hysteresis nonlinearity

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Robust adaptive control scheme for uncertain non-linear model reference adaptive control systems with time-varying delays

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IET control THEORY AND APPLICATIONS 2015年第8期9卷 1181-1189页

作者： Wu, Hansheng Deng, Mingcong Prefectural Univ Hiroshima Dept Informat Sci Hiroshima Hiroshima 7348558 Japan Tokyo Univ Agr & Technol Dept Elect & Elect Engn Koganei Tokyo 1848588 Japan

The problem of model reference adaptive control is considered for a class of uncertain dynamical systems with non-linear delayed state perturbations. It is assumed that the time-varying delays are any non-negative continuous and bounded functions. In particular, it is only assumed that the non-linear delayed state perturbations are bounded in any non-negative non-linear functions which are not required to be known for the system designer. A new method is presented whereby a class of continuous memoryless robust adaptive controllers with a rather simple structure can be constructed. It is also shown that the proposed robust adaptive control schemes can guarantee that the current state of uncertain non-linear time-delay dynamical systems can track the state of a given delay-free reference model as far as possible. Finally, the simulations of a numerical example are provided to demonstrate the validity of the theoretical results.

关键词： current status DYNAMICAL SYSTEMS time varying control systems adaptive control systems numerical example system clock reference model Plant uncertain Nonnegative adaptive robust control simple structures model reference adaptive control Nonlinear models Bounded Function

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An output regulation perspective on the model reference adaptive control problem

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2013年第1-2期27卷 22-34页

作者： Serrani, A. Ohio State Univ Dept Elect & Comp Engn Dreese Labs 205 Columbus OH 43206 USA

The paper presents a connection between the classic model reference adaptive control and recent developments in the theory of adaptive output regulation. Specifically, it is shown how the certaintyequivalence model reference controller realizes an internal model of an extended exogenous system comprising the zero dynamics of the plant driven by the steady-state trajectories of the reference model. Furthermore, the classic nonminimal realization of the certaintyequivalence controller required for adaptive redesign is equivalent to a canonical parameterization of the internal model in question, achieved via a nonobservable (but detectable) system *** (c) 2012 John Wiley & Sons, Ltd.

关键词： model reference adaptive control output regulation internal model system immersion

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