We introduce a novel fractional order adaptivecontrol design based on the tube model reference adaptive control (TMRAC) scheme for a class of fractional order linear systems. By considering an adaptive state feedback...
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We introduce a novel fractional order adaptivecontrol design based on the tube model reference adaptive control (TMRAC) scheme for a class of fractional order linear systems. By considering an adaptive state feedback control configuration, the main idea is to replace the classical referencemodel with a single predetermined trajectory by a fractional order performance tube guidance model allowing a set of admissible trajectories. Besides, an optimization problem is formulated to compute an on-line correction control signal within specified bounds in order to update the system performance while minimizing a control cost criterion. The asymptotic stability of the closed loop fractional order control system is demonstrated using an extension of the Lyapunov direct method. The dynamical performance of the fractional order tube model reference adaptive control (FOTMRAC) is compared with the standard fractional order model reference adaptive control (FOMRAC) strategy, and the simulation results show the effectiveness of the proposed control method.
This paper proposes model reference adaptive control (MRAC) to actively isolate payloads from floor vibrations and direct disturbance forces. adaptive feedforward control is used to counteract measured disturbances, w...
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This paper proposes model reference adaptive control (MRAC) to actively isolate payloads from floor vibrations and direct disturbance forces. adaptive feedforward control is used to counteract measured disturbances, whereas an adaptive feedback controller suppresses unmeasured disturbances using skyhook damping. In the considered rigid single degree of freedom system, the ideal controller gains only depend on the stiffness and damping properties of the suspension. The MRAC strategy is validated experimentally on a hard mounted vibration isolation system. Attenuation of acceleration levels beyond -40 dB are obtained in a wide frequency band 5-100Hz and the root-mean-square (RMS) acceleration in the frequency region of interest (0.1 - 100 Hz) is reduced 32 times with respect to passive isolation.
A modelreferenceadaptive current control (MRAC) method for the dual three phase permanent magnet synchronous machine is proposed in this paper. Although predictive current control shows an excellent transient perfor...
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ISBN:
(纸本)9781728151359
A modelreferenceadaptive current control (MRAC) method for the dual three phase permanent magnet synchronous machine is proposed in this paper. Although predictive current control shows an excellent transient performance compared to the PI controller method, its steady state performance can deteriorate if there is any error in estimating the machine's parameters. The proposed MRAC method estimates the disturbance due to the error in the parameters and feeds the error forward to the controller to eliminate it. While maintaining the predictive control's good transient performance, the proposed method can also improve the predictive control's steady state performance under parameter variation. As a result, it can be easily implemented along with the existing predictive current control. Theoretical background and the stability of the proposed system is derived. Simulation results are provided to validate the performance of the proposed method.
This paper presents a model reference adaptive controller for linear time invariant systems with unknown parameters. The adaptive laws used to estimate the controller parameters are based on fractional differential eq...
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This paper presents a model reference adaptive controller for linear time invariant systems with unknown parameters. The adaptive laws used to estimate the controller parameters are based on fractional differential equations, whose orders are switched among a fractional value in the interval (0,1) and 1 at certain time instants. Boundedness of the signals in the resulting controlled system is proved using recent results. A simulation study is provided for a second order system to show how the proposed control strategy can improve the behavior and decrease the control energy used, compared to the classic model reference adaptive controllers and fractional order model reference adaptive controllers with non-switched adaptive laws.
This paper presents an application of a recently developed direct uncertainty minimization approach for model reference adaptive control on a dual-rotor helicopter testbed. Specifically, the direct minimization approa...
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ISBN:
(数字)9781624105784
ISBN:
(纸本)9781624105784
This paper presents an application of a recently developed direct uncertainty minimization approach for model reference adaptive control on a dual-rotor helicopter testbed. Specifically, the direct minimization approach uses a gradient minimization procedure to construct modification terms that are included in the adaptivecontrol law and the update laws to improve the closed-loop system performance. These modification terms are activated when the system error between the uncertain dynamical system and a given referencemodel capturing the desired closed-loop dynamical system behavior is nonzero and then vanish as the system reaches steady-state. The experimental results in this paper demonstrate the capability of the direct minimization approach to improve the closed-loop system performance and enforce performance bounds.
The energy storage integration to grid using a dual active bridge DC - DC converter requires a promising controller for its efficient operation. In this paper a model reference adaptive controller (MRAC) for power flo...
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ISBN:
(纸本)9781728144283
The energy storage integration to grid using a dual active bridge DC - DC converter requires a promising controller for its efficient operation. In this paper a model reference adaptive controller (MRAC) for power flow control of a grid connected bi-directional neutral point clamped (NPC) structure based dual active bridge converter is introduced. The converter modelling is based on harmonic analysis. The controller is simple to implement and matches the power demand by the grid from the energy storage. The system performance is verified in MATLAB/Simulink platform for 5kW DAB converter and the results validates its satisfactory dynamic response for different disturbances in the system.
Lyapunov's direct method is a primary tool for designing model reference adaptive control (MRAC) and robust MRAC schemes. In general, Lyapunov function candidates contain two categories of quadratic terms. The fir...
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Lyapunov's direct method is a primary tool for designing model reference adaptive control (MRAC) and robust MRAC schemes. In general, Lyapunov function candidates contain two categories of quadratic terms. The first category includes the system tracking error quadratic terms or, in some cases, consist of the system state quadratic terms. The second consists of the parameter estimation error quadratic terms. To design MRAC and Robust MRAC systems, researchers have used a limited variety for choosing quadratic terms. In this study, we consider a general form for the tracking error quadratic terms. We consider a strictly increasing function that belongs to the class of c(1), which is a function of state tracking error quadratic terms. It yields a general structure for stable adaptive laws for updating controller parameters. For the MRAC scheme, the global asymptotic stability of the closed-loop system and stability and uniform bounded tracking of robust MRAC schemes are guaranteed. To evaluate the performance of the designed controllers, we consider the single DOF wing rock dynamics.
This paper presents a model reference adaptive controller for first order plants with unknown parameters. The adaptive laws used to estimate the controller parameters are based on fractional differential equations, wh...
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ISBN:
(纸本)9781728131856
This paper presents a model reference adaptive controller for first order plants with unknown parameters. The adaptive laws used to estimate the controller parameters are based on fractional differential equations, whose orders are switched among a fractional value in the interval (0, 1) and 1 at a certain time instant T. Boundedness of the signals in the resulting controlled system is proved using recent results. A simulation study is provided to show how the proposed control strategy can improve the behavior of the controlled system and decrease the control energy used, compared to the classic model reference adaptive controllers and fractional order model reference adaptive controllers with non-switched adaptive laws.
model reference adaptive control (MRAC) is known as a proper method to handle uncertainties of systems and achieve precision command tracking. However, actuator saturation of aircraft limits the ability of the adaptiv...
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ISBN:
(纸本)9789881563958
model reference adaptive control (MRAC) is known as a proper method to handle uncertainties of systems and achieve precision command tracking. However, actuator saturation of aircraft limits the ability of the adaptivecontroller in practice. In this paper, a modified automatic control architecture is presented for a class of aircraft in the presence of input saturation. The proposed controller is based on model reference adaptive control augmented with a modem anti-windup (AW) compensator. First, a standard MRAC with integral state feedback is described. Second, a Riccati-based AW compensator is employed to solve the input saturation problem. Finally, the control technique is applied to control the vertical acceleration of the aircraft with significant uncertainty in control effectiveness and matched uncertainties. Simulation results verify the performance of proposed method.
This paper proposes an adaptivecontrol allocation approach for uncertain over-Actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumpti...
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