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arXiv 2020年

作者： Song, Ge Tao, Gang Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904 United States

This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant uncertainties for output tracking and has desired flexibility to combine the advantages of full-state feedback MRAC and output feedback MRAC. With such a new control scheme, the plant-model matching condition is achievable as with an output or state feedback MRAC design. A stable adaptive control scheme is developed based on LDS decomposition of the plant high-frequency gain matrix, which guarantees closed-loop stability and asymptotic output tracking. The proposed partial-state feedback MRAC scheme not only expands the existing family of MRAC, but also provides new features to the adaptive control system, including additional design flexibility and feedback capacity. Based on its additional design flexibility, a minimal-order MRAC scheme is also presented, which reduces the control adaptation complexity and relaxes the feedback information requirement, compared to the existing MRAC schemes. New results are presented for plant-model matching, error model, adaptive law and stability analysis. A simulation study of a linearized aircraft model is conducted to demonstrate the effectiveness and new features of the proposed MRAC control scheme. Copyright © 2020, The Authors. All rights reserved.

关键词： model reference adaptive control

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BLDC multi-motor speed synchronization by leader following multi-agent and hybrid control

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International Journal of Hybrid Information Technology 2016年第12期9卷 231-242页

作者： Masroor, Suhaib Peng, Chen Aamir, Muhammad Ali, Zain Anwar School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Electronics Engineering Sir Syed University of Engineering and Technology Karachi Pakistan College of Automation Engineering Nanjing University of Aeronautics and Astronauts Nanjing China

In this article, a unique and innovative design for addressing the speed synchronization problem in a multi-motor system using Brush less DC (BLDC), motors is presented by utilizing motor back emf equation and rotor position commonly called sensor less technique. In the proposed method, the system is modelled as a consensus problem of leader following multi-agent system (MAS), and a hybrid controller is designed by using model reference adaptive control (MRAC) along with Variable Structure (VS) control technique of Sliding Mode control (SMC), herein called Variable Structure model reference adaptive control (VS-MRAC). The consensus algorithm of MAS (reformed w.r.t motor speed data), is fused with the hybrid controller to reach consensus on speed regulated by proposed hybrid controller. The stability of a system is endorse by designing a Lyapunov function. The efficiency of the proposed methodology is proven by simulations performed in MATLAB and the acquired results validate the success of proposed design methodology. © 2016 SERSC.

关键词： model reference adaptive control

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Recursively Updated Least Squares Based Modification Term for adaptive control

Recursively Updated Least Squares Based Modification Term fo...

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American control Conference

作者： Girish Chowdhary Eric Johnson Daniel Guggenheim school of aerospace engineering at the Georgia Institute of Technology Atlanta GA

ISBN: (纸本)9781424474264

We present an approach for combining standard recursive least squares based regression with proven direct model reference adaptive control using a recursively updated modification term. This approach is applicable to adaptive control problems where the uncertainty can be linearly parameterized. The combined training law drives the adaptive weights smoothly to a recursively updated least squares estimate of the ideal weights and is shown to have a stability proof. Expected improvement in performance of the adaptive law is validated through simulation.

关键词： adaptive control model reference adaptive control based

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Optimal Consensus control of Unknown Nonlinear Multi-Agent Systems Using adaptive Dynamic Programming via MRAC

Optimal Consensus Control of Unknown Nonlinear Multi-Agent S...

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第37届中国控制会议

作者： Hao Fu Xin Chen Wei Wang Jinbin Li Yaodong Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems State Grid Hubei Electric Power Research Institute

This paper introduces an optimal consensus control scheme for nonlinear multi-agent systems with completely unknown dynamics. In general, it is difficult to solve the coupled Hamilton-Jacobi-Bellman（HJB） equations, which the optimal consensus control relies on in multi-agent systems, especially unknown nonlinear systems. For the purpose of solving the problem, we propose an optimal consensus control approach based on the model reference adaptive control（MRAC） and adaptive dynamic programming（ADP）. Using the structure of the diagonal recurrent neural network, the identifier and controller are devised to achieve MRAC for every plant of the unknown nonlinear systems, i.e. the reference model serves as a dynamic model of each individual agent. Then, according to reference models of distributed agents, an adaptive dynamic programming（ADP）is introduced to approximate the solution of the coupled HJB equations.

关键词： Multi-agent systems optimal consensus model reference adaptive control adaptive dynamic programming

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adaptive augmenting control design for a generic longitudinal missile autopilot

Adaptive augmenting control design for a generic longitudina...

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American control Conference

作者： Hessam Mahdianfar Emmanuel Prempain Control & Instrumentation Group Department of Engineering University of Leicester LE1 7RH UK

ISBN: (纸本)9781467386838

Designing missile autopilots is a challenging problem due to highly nonlinear uncertain aerodynamics, and stringent performance requirements. In this paper a robust adaptive augmenting controller is designed for a generic non-minimum phase pitch-axis missile autopilot. The control system consists of a robust L2 gain optimal controller as a baseline and an incremental robust direct model reference adaptive control (MRAC). The baseline controller is designed using robust convex programming covering multiple operating regions. The main objective of designing a retrofit adaptive controller is to provide strong robust performance in presence of uncertainties such as parametric uncertainties, reduced control effectiveness, etc. Simulation tests are performed to assess stability and performance of nonlinear closed-loop adaptive system in presence of uncertainties in pitching moment and normal force coefficients, unmodeled time-delays, and variations in Mach number. In addition, results in simulations indicate satisfactory robustness in case of severe loss of control effectiveness event and uncertainty in pitch aerodynamic model.

关键词： model reference adaptive control Missile autopilot design adaptive augmenting control Retrofit adaptive control design Fault-tolerant flight control

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adaptive Feedback Linearization of a Hypersonic Vehicle Using ES-MRAC

Adaptive Feedback Linearization of a Hypersonic Vehicle Usin...

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IEEE Annual Conference on Decision and control

作者： Poorya Haghi William S. Black Kartik B. Ariyur School of Mechanical Engineering Purdue University 585 Purdue Mall West Lafayette IN 47907 Faculty of Mechanical Engineering Purdue University 585 Purdue Mall West Lafayette IN 47907

ISBN: (纸本)9781479978878

We apply a recently developed method of adaptive control known as Extremum Seeking model reference adaptive control (ES-MRAC) to a hypersonic vehicle model. The system under consideration is a two input, two output nonlinear model of a hypersonic vehicle. The method is based on the use of extremum seeking (ES) optimization for adaptation. Instead of deriving an adaptation law as in mainstream adaptive control methods, ES-MRAC calculates the update law in real-time. We investigate the behavior of the method in simulations.

关键词： hypersonic vehicles adaptive control extremum values model reference adaptive control Nonlinear models Linearization

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Recursive adaptive control for solar panel servo system

Recursive adaptive control for solar panel servo system

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2nd International Conference on Intelligent Materials, Applied Mechanics and Design Science, IMAMD 2013

作者： Xing, Chao Wang, Ling School of Astronautics Northwestern Polytechnical University China

ISBN: (纸本)9783037857175

Two typical methods for model reference adaptive control are introduced. By integrating the Narendra adaptive control method and the variable structure model reference adaptive control method, a new variable model reference adaptive recursive control method is presented. The results of simulation computations show that the new method has the merits of the above two methods and is efficient and effective © (2013) Trans Tech Publications, Switzerland.

关键词： model reference adaptive control

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Robust adaptive control of electrohydraulic servo systems using the Euler operator

Robust adaptive control of electrohydraulic servo systems us...

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International Conference on control 1991. control '91

作者： N. Hori D.V. Bitner P.N. Nikiforuk P.R. Ukrainetz McGill University Canada University of Saskatchewan Canada

ISBN: (纸本)0852965095

A model reference control system presented by Hori et al. (1989) is applied to an electrohydraulic servo system and simulations are carried out to study how the performance of a controller changes depending upon how the stable sampling zeros are handled. An adaptive version of this control scheme is also studied. Experimental results confirm the simulation study.< >

关键词： adaptive control Electrohydraulics control equipment model reference adaptive control Servosystems

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Speed Sensorless DTC for Three-level Inverter-Fed Induction Motor using Different Observers

Speed Sensorless DTC for Three-level Inverter-Fed Induction ...

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Renewable Energies, Power Systems & Green Inclusive Economy (REPS-GIE)

作者： Amina Achalhi Noureddine Belbounaguia Mohammed Bezza Hassan II University of Casablanca Laboratory of Physics of the atmosphere Materials and Modeling Mohammedia Morocco Hassan II University of Casablanca Laboratory of EEA & Information Processing Mohammedia Morocco

ISBN: (纸本)9781538685167

This paper studies speed sensorless Direct Torque control (DTC) for 3-level inverter-fed induction motor using different observers. Indeed, the first part presents the DTC using 3-level inverter and the second part introduces three different observers: The model reference adaptive System (MRAS), the adaptive Luenberger observer and the Extended Kalman Filter (EKF). The last part shows the simulation results of all sensorless DTC schemes carried under Matlab/Simulink and compares their performances over a wide speed range.

关键词： angular velocity control induction motor drives induction motors invertors Kalman filters model reference adaptive control systems observers sensorless machine control torque control model reference adaptive control induction motors Inventors angular velocity control Observers induction motor drives direct torque control Kalman filters Torque control Sensors speed range inverter-fed

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Performance Guarantees and Performance Optimization of MRAC for Non-Minimum Phase Systems

Performance Guarantees and Performance Optimization of MRAC ...

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IEEE Annual Conference on Decision and control

作者： Liron I. Allerhand Dieter Schwarzmann Jonas Missler Department of applied mathematics Stuttgart University Stuttgart 70569 Germany automotive engineering department IAV GmbH Hannover Germay mechanical engineering department Stuttgart University Stuttgart 70569 Germany

ISBN: (纸本)9781479978878

Non-minimum phase systems pose a challenge in the design of MRAC. While some methods that can handle non-minimum phase systems are available in the literature, it is not always easy to guarantee tracking performance with these methods. This paper offers a partial solution to this problem. The method of generating an augmented plant by adding some dynamics in parallel to the original plant is used to make the adaptation scheme see a minimum phase system. The drawback of this method is that the error between original plant and original reference model does not asymptotically converge to zero, and even analysis of this error is not available in the literature. This paper offers a way to find an upper bound on the tracking error and design an alternative reference model to minimize the error. The application of the new reference model leads to improved tracking performance with respect to the original reference model. The alternative reference model is designed by iteratively solving linear matrix inequalities. Performance guarantees are given in terms of an L_2-gain bound from the reference to the tracking error, and this L_2-gain bound is minimized when the matrix inequalities are solved. An aerospace example is given to illustrate the effectiveness of our approach.

关键词： reference model non-minimum phase system model reference adaptive control minimum phase system visual tracking

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