The application of adaptivecontrol algorithms for vibration suppression of smart structures is investigated in this paper. An accurate mathematical representation is not required in this approach. The controller adap...
详细信息
If a dextrous manipulator could be given the functions of programmed compliance and force reflectance, in addition to the easier functions of programmed motion and teleoperation, then many more remote handling tasks c...
详细信息
If a dextrous manipulator could be given the functions of programmed compliance and force reflectance, in addition to the easier functions of programmed motion and teleoperation, then many more remote handling tasks could be performed. This paper briefly describes how one area of manipulator research at ISSL is addressing this problem. It begins by describing two sources of inaccuracy in robot manipulators and goes on to describe how model-based control can be used to improve accuracy for high precision and high speed motions. Although force control typically occurs at very low speeds, the effectiveness of model-based control is shown to be relevant still-but the emphasis is now on the friction modelling. Since a good model is central to this discussion, some aspects of the modelling are described, especially friction effects. Finally, a few preliminary results are given, some principles for improved manipulator design are presented by example and some concluding remarks are made.< >
We develop an optimal predictive control for building heating, ventilating and air conditioning (HVAC) systems. Explicit inequality constraints on the input and on the output of the system are considered. A specific m...
详细信息
We develop an optimal predictive control for building heating, ventilating and air conditioning (HVAC) systems. Explicit inequality constraints on the input and on the output of the system are considered. A specific model-based recursive parameter identification and fault detection approach is described. Simplified physical modeling of the process establishes the model structure of an adaptive predictor to be used both for identification and control. The adaptive predictor is based on the estimation of the states. The parameters of the process are updated using a two-stage filtered instrumental projection method that ensures the promptness of fault detection. Fault detection is based on specific processing of the prediction errors and parameters of the predictor. Process diagnosis is ensured by appropriate use of the qualitative knowledge about the process. In order to increase the robustness of the fault detection scheme, additional test signals are introduced in the process.< >
The structured cerebellar model articulation controller (CMAC) offers a model-based, adaptive, but more reliable online neuro-control for the aerospace industry. The curse of dimensionality can be circumvented by expl...
详细信息
The structured cerebellar model articulation controller (CMAC) offers a model-based, adaptive, but more reliable online neuro-control for the aerospace industry. The curse of dimensionality can be circumvented by exploiting any redundancy in the underlying function. Active structural load alleviating flight control systems are one such area where this work has shown that the controllers may be modelled using suitable CMAC network architecture and deployment strategies. This work builds a set of baseline rules which are to be used in the training ends synthesis of CMAC based adaptive neuro-controllers. This is proposed as a substitute for the present more traditional combination of gain-scheduled, plus modelreference, MIT rule, Lyapunov, or parameter adaption schemes currently used in control for the aerospace industry.< >
The model based control algorithms namely, internal modelcontrol and dynamic matrix control are derived for a continuous fluidized bed dryer. They are implemented on an actual pilot plant of the dryer and their perfo...
详细信息
The model based control algorithms namely, internal modelcontrol and dynamic matrix control are derived for a continuous fluidized bed dryer. They are implemented on an actual pilot plant of the dryer and their performance is compared. The DMC scheme shows good set point tracking even in the presence of measurement noise.< >
The problem of satisfying input and state-dependent inequality constraints in feedback control systems is addressed. The proposed solution is based on predicting the evolution of the constrained vector and, accordingl...
详细信息
The problem of satisfying input and state-dependent inequality constraints in feedback control systems is addressed. The proposed solution is based on predicting the evolution of the constrained vector and, accordingly, selecting online the future reference based on both the current state and the desired set-point changes. The achievable performance is first investigated via simulations, and compared with the one obtained via a receding horizon controller which uses an online mathematical programming solver. Finally, an analysis is carried out so as to establish the stability and offset-free properties of the method.< >
This paper is concerned with the application of a modified model reference adaptive control (MRAC) algorithm on a real system. The proposed scheme introduces the concept of periodic resetting of adaptation mechanism (...
详细信息
This paper is concerned with the application of a modified model reference adaptive control (MRAC) algorithm on a real system. The proposed scheme introduces the concept of periodic resetting of adaptation mechanism (PRAM). The algorithm developed has been applied to the longitudinal control problem of a high-speed fighter aircraft. Simulation results proved that the proposed technique is capable to alleviate the stability problems of the available standard MRAC-algorithms, in the presence of unmodeled dynamics and sinusoidal disturbances.< >
This paper proposes the use of a radial basis function network (RBFN) for the online adaptive identification of inverse plant dynamics. The RBFN is incorporated into a model reference adaptive controller which tracks ...
详细信息
This paper proposes the use of a radial basis function network (RBFN) for the online adaptive identification of inverse plant dynamics. The RBFN is incorporated into a model reference adaptive controller which tracks an idealised linear model of the plant under stable optimal control. Since online training is maintained during plant operation the effects of environmental changes, disturbances, and parametric uncertainty, are accommodated by the inverse model and system performance is maintained. This leads to a high degree of fault tolerance within a given class of nonlinear plants which is demonstrated by the performance of a helicopter model under fault conditions.< >
This paper describes an adaptive computer-based dynamic positioning control system for floating vessels. The system is based on a mathematical model of vessel motion in response to external forces from thrusters, wind...
详细信息
This paper describes an adaptive computer-based dynamic positioning control system for floating vessels. The system is based on a mathematical model of vessel motion in response to external forces from thrusters, wind, water current and waves. The proposed system uses a control algorithm based on polynomial output feedback combined with feedforward compensation of external forces and internal coupling variables. Both subalgorithms, polynomial feedback and feedforward compensation are parameter updated by a gain scheduling method. The polynomial feedback locates dynamically for each wave disturbance characteristic (frequency and wave height), the closed-loop poles of the controlled system on the proper place, according a fuzzy rule-based adjustment procedure, following a referencemodel which constitute an alternative to the Kalman filter based in the poles shifting by a fuzzy associated memory (FAM) rule system, estimating the output feedback in such a way that avoids reaction of thrusters to high frequency motion of vessel. The graphic results are obtained by computer simulation using the simulation language Simnon.< >
The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector...
详细信息
The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.
暂无评论