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40th Annual Meeting of the IEEE-Industry-Applications-Society

作者： Rubaai, A Castro, M Howard Univ Dept Elect & Comp Engn Washington DC 20059 USA

ISBN: (纸本)0780392086

Two distinct multilayer pereepton neural networks (NNs) are implemented via laboratory experiment to simultaneously identify and adaptively control the trajectory tracking of a hybrid step motor assumed to operate in a high-performance drives environment. A neural network identifier (NNI) which captures the nonlinear dynamics of the stepper motor drive system (SMDS) over any arbitrary time interval in its range of operation, and a neural network, controller (NNC) to provide the necessary control actions as to achieve trajectory tracking of the rotor speed. The NNC is constructed as a feedback signal depending on the current sate of the drive system supplies by the NNI and the reference trajectory we wish the outputs to follow. The two NNs are on-line trained using dynamic back-propagation algorithm. The composite structure is used as a speed controller for the SMDS. Performance of the composite controller is evaluated through a laboratory experiment. Experimental results show the effectiveness of this approach, and demonstrate the usefulness of the proposed controller in high performance drives.

关键词： artificial neural network dynamic back-propagation model reference adaptive control stepper motor

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2DOF motion stabilization of biped robot by gaze control strategy

2DOF motion stabilization of biped robot by gaze control str...

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作者： Takizawa, Shota Ushida, Shun Okatani, Takayuki Deguchi, Koichiro Graduate School of Information Sciences Tohoku University Japan

ISBN: (纸本)0780389123

In order to keep intended distance and direction to a target object, our biped robot modifies its movements based on visual information. To detect the target direction, we stabilize gaze of the robot by 2 DOF controller, using a scheduled robot motion plan for the feedforward one and the image information for the feedback one. Then, we stabilize the robot motion with the stabilized gaze. In this control scheme, parameters of the feedforward controller is modified on-line by using an adaptive law of model reference adaptive control (MRAC). © 2005 IEEE.

关键词： model reference adaptive control

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Multiple fuzzy reference model adaptive controller algorithm for aircraft pitch-rate tracking

Multiple fuzzy reference model adaptive controller algorithm...

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14th International Conference on Intelligent and adaptive Systems and Software Engineering, IASSE 2005

作者： Kamalasadan, Sukumar Ghandakly, Adel A. Division of Engineering and Computer Technology University of West Florida Pensacola FL-32514 United States Department of Electrical Engineering and Computer Science University of Toledo Toledo OH-43606 United States

ISBN: (纸本)9781604234558

This paper presents a multiple fuzzy reference model adaptive control algorithm, which consists of an online fuzzy reference model, for a nonlinear aircraft controller design. A direct model reference adaptive control (MRAC) scheme is used with the reference model generated online using a fuzzy logic algorithm. The proposed control provides a soft multiple reference models switching for the aircraft changing modes of operation, without prohibitive computational complexities or explicit system identification. The proposed scheme performs switching of the reference model structure at every time instant providing a smooth change in the functional relation between aircraft operating modes and reference model structure. The method also provides a time varying reference models based on the fuzzy scheme, and thus these reference models divide the operating spaces smoothly based on the system modes through out a defined domain. It is unique in nature in the context of multiple models based adaptive control. The effectiveness of the proposed technique is assessed by simulation studies based on a 6-DOF high performance fighter aircraft undergoing pitch rate control at a wide range of operating contingencies.

关键词： model reference adaptive control

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A neural network parallel adaptive control algorithm for fighter aircraft pitch rate control

A neural network parallel adaptive control algorithm for fig...

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14th International Conference on Intelligent and adaptive Systems and Software Engineering, IASSE 2005

ISBN: (纸本)9781604234558

This paper proposes a fighter aircraft pitch rate command-tracking algorithm based on a Neural Network Parallel adaptive controller (NNPAC). The control scheme consists of an online growing Radial Basis Function Neural Network (RBFNN) in parallel with a direct model reference adaptive control (MRAC) law. The RBFNN structure including centers, widths and radii are updated online based on a novel concept of an Intelligent Supervisory Loop (ISL) approach for accurate pitch rate command tracking. This update is carried out in view of the error between the pitch rate command and the output, in addition to a direct MRAC law which tracks the desired reference model output. The total control output is used to change the elevator deflection keeping the other control surface deflections at random values, even when the aircraft operates at difference maneuvers. Moreover, a suitable reference model structure is used for all aircraft operating modes and the system is then fully tuned by the parallel controller. The importance of the proposed scheme is in its ability to perform effectively as the system changes its modes. The proposed control algorithm has been validated by conducting simulation studies on a nonlinear F16 fighter aircraft model operating at different modes with randomly changing parameter set.

关键词： model reference adaptive control

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Assessment of adaptive techniques for the control of structures subject to temperature variations

Assessment of adaptive techniques for the control of structu...

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12th International Congress on Sound and Vibration 2005, ICSV 2005

作者： Marques, Rodrigo F.A. Inman, Daniel J. Rade, Domingos A. Virginia Polytechnic Institute State University 310 Durham Hall Blacksburg VA 24061-0261 United States Universidade Federal de Uberlândia Av. João Naves de Ávila 2160 Campus-Santa Mônica 38400-902 Uberlândia MG Brazil

ISBN: (纸本)9781627481496

Temperature variations can significantly change the dynamic characteristics of structures. Active and passive control systems which do not account for these temperature variations and their effect on the dynamics of the structure may cause problems even more severe than those they were designed to solve. In this paper it is shown how the performance of an actively controlled beam deteriorates as temperature varies, by simulating its step response. Then, two distinct designs of adaptive controllers are proposed: one in which temperature is measured and used to update the controller gains, based on an analytical model of the structure which includes temperature effects;and a second design based on an adaptive control technique known as model reference adaptive control (MRAC), in which the controller gains are updated so as to minimize the error defined as the difference between the response of the actual system and an ideal, preconceived response given by the reference model. Numerical simulations are carried out for a simply supported beam modeled as a Single Degree of Freedom system. Results are discussed in terms of the performance of the controlled system and the control effort required. These simulations are meant to provide the necessary knowledge basis which precedes the experimental tests to be carried out in the future.

关键词： model reference adaptive control

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model reference adaptive control of a flexible structure

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KSME INTERNATIONAL JOURNAL 2001年第10期15卷 1356-1368页

作者： Yang, KJ Hong, KS Rhee, EJ Yoo, WS Pusan Natl Univ Sch Mech Engn Kumjeong Ku Pusan 609735 South Korea

In this paper. the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described by a partial, rather than ordinary, differential equation. The MRAC problem is formulated as an initial value problem of coupled partial and ordinary differential equations in weak form. The well-posedness of the initial value problem is proved. The control law is derived by using the Lyapunov redesign method on an infinite dimensional Hilbert space. Uniform asymptotic stability of the closed loop system is established, and asymptotic tracking, i. e., convergence of the state-error to zero, is obtained. With an additional persistence of excitation condition for the reference model, parameter-error convergence to zero is also shown. Numerical simulations are provided.

关键词： model reference adaptive control distributed parameter system uniform asymptotic stability weak form persistence of excitation

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UNIT VECTOR control OF UNCERTAIN MULTIVARIABLE NONLINEAR SYSTEMS

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IFAC Proceedings Volumes 2005年第1期38卷 1061-1066页

作者： Alessandro J. Peixoto José Paulo V.S. Cunha Liu Hsu Ramon R. Costa Fernando Lizarralde COPPE Federal University of Rio de Janeiro Brazil State University of Rio de Janeiro Brazil

A unit vector based output-feedback model-reference adaptive controller (UV-MRAC) for a class of uncertain multivariable nonlinear systems is proposed. This paper generalizes a previous controller which can be applied to plants with uniform relative degree one. Here, the relative degree can be arbitrary. The resulting sliding mode controller is applicable to plants with nonlinear state dependent disturbances which are possibly unmatched with respect to the plant input. The closed loop system has global or semi-global exponential stability with respect to some small residual set and the controller is free of peaking phenomena which could appear in high gain observer based schemes.

关键词： Sliding mode control multivariable systems nonlinear systems model reference adaptive control output feedback

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REDUCING THE EFFECT OF UNmodelED DYNAMICS BY MRAC control LAW MODIFICATION

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IFAC Proceedings Volumes 2005年第1期38卷 271-275页

作者： Eva Miklovičová Ján Murgaš Michal Gonos Department of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic tel.: 02 602 91 604 fax.: 02 654 29 734

Solving a tracking problem does not always give desired results even when the adaptive control methods are used. Some difficulties may occur when the apriori assumptions laid down for the problem solution are not satisfied. One of the serious issues is the existence of unmodeled dynamics in the tracking problem. The proposed solutions are mainly based on robustification of the adaptation law. In this paper we propose to reduce the effect of unmodeled dynamics using the MRAC control law modification so that the standard adaptation law ensures the sufficiently small tracking error.

关键词： model reference adaptive control Lyapunov methods tracking systems

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Numerical investigation of model reference adaptive control for hypersonic aircraft

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JOURNAL OF GUIDANCE control AND DYNAMICS 2001年第2期24卷 315-323页

作者： Mooij, E Delft Univ Technol NL-2600 GB Delft Netherlands

To address the attitude control of hypersonic aircraft, an approach of direct model reference adaptive control (MRAC) is followed. The basis for MRAC is that a system of which only the outputs are known has to track a reference model that can be a simple approximation of the actual system. By combining the output error, the model state, and the model control parameters into a reference signal, proportional and integral gains can be computed that are adapted to the value of the reference signal. To apply MRAC it is necessary that the controlled nonlinear system is almost strictly passive. The design of the combined longitudinal/lateral MRAC system is centred around a linearized reference model of the winged cone configuration at a Mach 5.6 fight condition. The results of some fundamental response tests are discussed, as well as altitude and cross-range transitions. It appears that MRAC seems to be a promising concept when applied to hypersonic space planes. Although it is too early to say that the current configuration of the controller is robust with respect to design uncertainties and environmental perturbations, there are still many improvements possible that will enhance performance. One drawback, however, is the large number of design parameters that can be tuned to influence the performance.

关键词： Hypersonic Aircraft model reference adaptive control Attitude control Nonlinear Systems Yaw control Aerodynamic Properties Aerodynamic Angle Guidance System Center of Pressure Feedback control System

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Iterative learning of model reference adaptive controller for uncertain nonlinear systems with only output measurement

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AUTOMATICA 2004年第5期40卷 855-864页

作者： Chien, CJ Yao, CY Huafan Univ Dept Elect Engn Taipei Taiwan

In this paper, a model reference adaptive control strategy is used to design an iterative learning controller for a class of repeatable nonlinear systems with uncertain parameters, high relative degree, initial output resetting error, input disturbance and output noise. The class of nonlinear systems should satisfy some differential geometric conditions such that the plant can be transformed via a state transformation into an output feedback canonical form. A suitable error model is derived based on signals filtered from plant input and output. The learning controller compensates for the unknown parameters, uncertainties and nonlinearity via projection type adaptation laws which update control parameters along the iteration domain. It is shown that the internal signals remain bounded for all iterations. The output tracking error will converge to a profile which can be tuned by design parameters and the learning speed is improved if the learning gain is large. (C) 2003 Elsevier Ltd. All rights reserved.

关键词： iterative learning control model reference adaptive control relative degree robustness nonlinear systems

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