A new method is developed for tracking in non-linear delay-differential systems when the exact knowledge of the system parameters are not known. The method is based on securing the stability in the state spaces of pla...
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A new method is developed for tracking in non-linear delay-differential systems when the exact knowledge of the system parameters are not known. The method is based on securing the stability in the state spaces of plant and referencemodels. The results obtained are quite general in nature and can be applied to many physical systems.
The paper deals with the design of model reference adaptive control and identification for nonlinear plants. Two methods are presented. The first method uses the error-equation approach and assumes the same dimensiona...
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The paper deals with the design of model reference adaptive control and identification for nonlinear plants. Two methods are presented. The first method uses the error-equation approach and assumes the same dimensionality of both systems; plant and the referencemodel. This assumption is relaxed in the second method which is based on the augmentation of the state-space and the stabilisation with respect to the subset of variables. In neither method is the plant linearized.
In most of the studies of model reference adaptive control (MRAC), the controlled systems are confined to minimum phase systems, since the MRAC techniques utilize the control laws involving cancellations of zeros of t...
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In most of the studies of model reference adaptive control (MRAC), the controlled systems are confined to minimum phase systems, since the MRAC techniques utilize the control laws involving cancellations of zeros of the systems. It makes the scope of application of MRAC too restrictive, for nonminimum phase discrete-time systems can often appear. In this paper, we propose a design method of model reference adaptive control systems for non-minimum phase systems by utilizing 2-delay input control. In our method, the poles and zeros of the controlled systems are relocated by the 2-delay feedback control laws with 2-delay sampling. Since no cancellation of zeros occurs, the stable model reference adaptive control systems can be constructed even if unstable zeros exist. Some simulation results for non-minimum phase systems also shown the effectiveness of the proposed method.
This paper presents a model reference adaptive control system (MRACS) which does not depend on the degree of the plant when the plant is the continuous-time periodically linear time-varying system. A priori informatio...
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We present a new architecture for model reference adaptive control that is suitable for highly parallel analog and digital hardware implementation. Experimental results show good convergence and robustness under real-...
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This paper presents a model reference adaptive control scheme which guarantees robustly stable behavior in the presence of parasitics. In the scheme, the controller parameters are adjusted by an adaptive law with rela...
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This paper presents a model reference adaptive control scheme which guarantees robustly stable behavior in the presence of parasitics. In the scheme, the controller parameters are adjusted by an adaptive law with relative dead zone so as to converge to constant values and the output error between plant and referencemodel is fedback to the control input through a fixed compensator of PI-type to reduce the residual tracking error resulting from the use of dead zone. Stability of the adaptivecontrol system is analyzed by using the singular perturbation theory and the Liapunov' s direct method, and it is then proved that the system is able to behave robustly in the presence of parasitics by proper choice of the size of dead zone. Effectiveness of the proposed scheme is demonstrated by showing the simulation results carried out for an example system.
This paper describes the design and realization of a model reference adaptive controller (MRAC) for the first two links of an ASEA IRb6 robot. A time continuous asymptotic stable adaptivecontroller has been designed ...
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This paper describes the design and realization of a model reference adaptive controller (MRAC) for the first two links of an ASEA IRb6 robot. A time continuous asymptotic stable adaptivecontroller has been designed by using hyperstabi-lity and positivity concepts. The adaptation algorithm has been discretized for the digital implementation. To achieve a better insight into the influence of the different adaptation gains, certain modifications have been applied to the adaptation algorithm. The second order linear time-invariant referencemodel has been chosen so that the prescribed trajectory tracking performance can be realized by the robot. The practical implementation shows that, as a result of the physical disturbances due to stiction, Coulomb friction, actuator saturation and gravitational loading, the controller has to be modified. Experimental results show good capability for trajectory tracking of the modified MRAC controller. Furthermore, the dynamic interaction between the first two links has been eliminated.
This note describes a method for the design of discrete time model matching control systems for a plant with measurement noise, and the application of this method to model reference adaptive control system. This metho...
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This note describes a method for the design of discrete time model matching control systems for a plant with measurement noise, and the application of this method to model reference adaptive control system. This method uses the free parameters of the controller. Simulation results are presented which confirm the validity of the design method.
In this paper we address the problem of improving the asymptotic performance guarantees of a class of model reference adaptive controllers under insufficient excitation and in the presence of perturbations such as non...
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In this paper we address the problem of improving the asymptotic performance guarantees of a class of model reference adaptive controllers under insufficient excitation and in the presence of perturbations such as non-parametric uncertainty and bounded disturbances. We show that for a class of perturbations whose normalized effect is bounded by an a priori known function of time an estimate of the parametric uncertainty set can be obtained on-line via a set membership estimator. Furthermore, by incorporating this estimate as an additional constraint in the adaptive law generating the controller parameters, we show that the resulting adaptivecontroller offers dead-zone-like performance guarantees in the lim-sup sense while preserving the desirable root-mean-square performance guarantees of gradient-based algorithms.
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