State feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a class of linear systems with input and state delays based only on the lumped-delays without so-called distributed-delay (DD)...
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The field of adaptivecontrol has experienced a rapid growth and change during the last decade with new ideas, concepts, methodologies, theories and applications. New approaches to 'robustify' the classical Mo...
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In a series of recent papers the authors have introduced a novel approach to adaptivecontrol exploiting the geometric ideas of system immersion, and manifold invariance. A unique feature of this framework is that it ...
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ISBN:
(纸本)0780379241
In a series of recent papers the authors have introduced a novel approach to adaptivecontrol exploiting the geometric ideas of system immersion, and manifold invariance. A unique feature of this framework is that it allows to treat in a unified manner the problems of state and parameter estimation. In this brief paper we revisit the classical model reference adaptive control from the immersion and invariance perspective and provide new parameterizations (in terms of the unknown state) to the problem. This radically new viewpoint yields very simple schemes with a clear stabilization mechanism that, in contrast with the classical solutions, does not rely on slow parameter adaptation-induced by the introduction of signal normalization.
It is required to adapt to the change of the dynamic characteristics in real-time so that robotics systems can achieve highspeed and high-accuracy motion. In the model reference adaptive control schemes (MRAC), a mode...
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ISBN:
(纸本)0780378660
It is required to adapt to the change of the dynamic characteristics in real-time so that robotics systems can achieve highspeed and high-accuracy motion. In the model reference adaptive control schemes (MRAC), a model with short time-constant must be chosen to realize fast response. However, it takes long time to adapt to the model. Thus, a new approach for MRAC was proposed. In order to improve the transient behavior, the main idea of the new algorithm is the introduction of the state feedback to the model, and the availability was verified on the first-order systems. In this paper, the proposed methodology is extended to the second-order systems. Simulations show that the efficiency of this proposed method was verified.
This work represents the development of robust control methods in the tasks of adaptation of SISO linear time-invariant plant with unknown parameters and disturbance. This problem is solved by ((2 n + 1)ρ –1)-order ...
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This work represents the development of robust control methods in the tasks of adaptation of SISO linear time-invariant plant with unknown parameters and disturbance. This problem is solved by ((2 n + 1)ρ –1)-order regulator.
In this paper,model reference adaptive control （MRAC） of linear continuous-time state delay systems is pre- sented with the assumption that the relative degree of the system without delay be ***,a new two component ...
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In this paper,model reference adaptive control （MRAC） of linear continuous-time state delay systems is pre- sented with the assumption that the relative degree of the system without delay be ***,a new two component con- troller structure was developed for state delay systems in which the relative degree of system without delay was assumed to be *** have combined the two component controller structure with the well known Monopoli’s algorithm for systems with relative degree two,to extend the design for the relative degree two ***-loop system stability and error convergence is proved by using a suitable Lyapunov-Krasovskii *** effectiveness of the theoretical results has been illustrated through simulation results.
This paper investigates the feasibility of adaptive feedforward sliding mode control and modelreferenceadaptive sliding mode control scheme for the vibration suppression of a smart flexible beam. The adaptive least ...
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ISBN:
(纸本)9781424414970;1424414970
This paper investigates the feasibility of adaptive feedforward sliding mode control and modelreferenceadaptive sliding mode control scheme for the vibration suppression of a smart flexible beam. The adaptive least mean square (LMS) feedforward control with sliding mode controller and model reference adaptive control (MRAC) scheme with sliding mode controller are developed. Finite element model of flexible beam is calculated. Numerical simulations verified the desired performance of the adaptive sliding mode controllers and proved that the adaptive feedforward sliding mode control and modelreferenceadaptive sliding mode control are effective approaches with application to vibration suppression problem.
In this paper two approaches to vibration control of a funnel-shaped smart structure with distributed piezoelectric actuators and sensors are considered. They are based on different possibilities for the shell smart s...
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In this paper two approaches to vibration control of a funnel-shaped smart structure with distributed piezoelectric actuators and sensors are considered. They are based on different possibilities for the shell smart structure modeling. An optimal linear quadratic (LQ) tracking control system with additional dynamics is proposed as a model-based control solution for the vibration suppression of a funnel-shaped structure which is modeled using either of the two approaches suggested in this paper: a finite element method (FEM)-based approach and model identification based on the measured input-output signals. Another control approach is a direct robust model reference adaptive control (MRAC), which is based on the measurements of the plant input and output signals and desired behavior specified through a referencemodel. Both control approaches assume the state space realization of the controlled plant. Vibration suppression of the funnel-shaped inlet part of the magnetic resonance image (MRI) tomograph with distributed piezoelectric actuator and sensor patches is achieved applying proposed control concepts and verified through the Hardware-in-the-Loop experiments with dSPACE and through numeric simulations. The results of the vibration control show considerable suppression of the vibration magnitudes in the selected frequency range.
Introducing fractional operators in the adaptivecontrol loop, and especially in model reference adaptive control (MRAC), has proven to be a good mean for improving the plant dynamics with respect to response time and...
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Introducing fractional operators in the adaptivecontrol loop, and especially in model reference adaptive control (MRAC), has proven to be a good mean for improving the plant dynamics with respect to response time and disturbance rejection. The idea of introducing fractional operators in adaptation algorithms is very recent and needs to be more established, that is why many research teams are working on the subject. Previously, some authors have introduced a fractional modelreference in the adaptation scheme, and then fractional integration has been used to deal directly with the control rule. Our original contribution in this paper is the use of a fractional derivative feedback of the plant output, showing that this scheme is equivalent to the fractional integration, one with a certain benefit action on the system dynamical behaviour and a good robustness effect. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes.
It is difficult for an ultra-sonic motor (USM) to derive a plant model based on the physical analysis. It is well-known that PID control can be constructed even if there is no plant model. In practice, many PID contro...
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It is difficult for an ultra-sonic motor (USM) to derive a plant model based on the physical analysis. It is well-known that PID control can be constructed even if there is no plant model. In practice, many PID controllers for USM have been proposed. However, there are limitations of control performance on the conventional fixed-gain type PID control because USM causes serious characteristic changes of the plant during operation and contains non-linearity caused by frictions. It is well-known that a model reference adaptive control (MRAC) is very effective to compensate characteristic changes of the plant. However it is not useful for non-linearity of the plant. Then we propose an improved design scheme of MRAC combined with neural networks (NN). The feature of the proposed design scheme is that an improved architecture of the NN is adopted, as a result a simple calculation expression of the Jacobian is derived.
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