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arXiv 2020年

作者： Joshi, Girish Virdi, Jasvir Chowdhary, Girish Department of Aerospace Engineering India Department of Mechanical Science and Engineering United States Department of Computer Science Department of Agricultural and Biological Engineering University of Illinois at Urbana-Champaign United States

In this paper, we present Asynchronous implementation of Deep Neural Network-based model reference adaptive control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate that a single DMRAC controller can handle significant nonlinearities due to severe system faults and deliberate wind disturbances while executing high-bandwidth attitude control. We also show that the architecture has long-term learning abilities across different flight regimes, and can generalize to fly different flight trajectories than those on which it was trained. These results demonstrating the efficacy of this architecture for high bandwidth closed-loop attitude control of unstable and nonlinear robots operating in adverse situations. To achieve these results, we designed a software+communication architecture to ensure online real-time inference of the deep network on a high-bandwidth computation-limited platform. We expect that this architecture will benefit other deep learning in the closed-loop experiments on robots. Copyright © 2020, The Authors. All rights reserved.

关键词： model reference adaptive control

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Performance study of different model reference adaptive control techniques applied to a DC motor for speed control 3

Performance study of different model reference adaptive cont...

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3rd International Conference on Trends in Electronics and Informatics, ICOEI 2019

作者： Mallick, Santanu Mondal, Ujjwal Dept. of Applied Electronics and Instrumentation Engg. Bankura Unnayani Institute of Engineering Bankura722146 India Instrumentation Engineering Department of Applied Physics University of Calcutta Kolkata700009 India

ISBN: (纸本)9781538694398

The objective of this work is to apply model reference adaptive control (MRAC) using Massachusetts Institute of Technology (MIT) rule and MRAC using Lyapunov method to control the speed of a Direct Current (DC) motor system. The speed control of DC motor is one of the widely used industrial controls due its specific characteristics. Different values of adaptation gains are taken for comparative analysis in MATLAB Simulink environment A detail comparative performance analysis has been stated with different MRAC strategies applied to the DC motor system. © 2019 IEEE.

关键词： model reference adaptive control

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Transient performance improvement of model reference adaptive control: LMI-based resetting

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2018年第2期32卷 390-402页

作者： Davanipour, M. Khayatian, A. Dehghani, M. Shiraz Univ Sch Elect & Comp Engn Shiraz *** Iran

In this paper, a resetting mechanism is proposed to enhance the transient performance of model reference adaptive control. While the suggested method has a simple structure, it is capable of taking into account both the desired steady-state behavior and the transient response, simultaneously. Whenever the transient specification is not satisfying, there is a jump in the controller parameters. This jump is determined by designing an optimal reset law. At the reset times, the after-reset values of parameters are calculated based on a minimization problem. The considered cost function is a mixed H-2/H criterion, which minimizes the tracking error. The optimization problem is converted to an LMI formulation, and the reset law is designed by solving this LMI at certain reset times. To verify the effectiveness of the proposed approach, simulation results are presented.

关键词： linear matrix inequality model reference adaptive control reset control transient performance improvement

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Cross-coupling synchronous velocity control using model reference adaptive control scheme in an unsymmetrical biaxial winding system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2018年第9期232卷 1245-1259页

作者： Huy Hung Nguyen Van Tu Duong Kim, Dae Hwan Kim, Hak Kyeong Kim, Sang Bong Pukyong Natl Univ Coll Engn Dept Mech Design Engn 365 Sinseon Ro Busan 48547 South Korea Saigon Univ Fac Elect & Telecommun Ho Chi Minh City Vietnam

Motion control with high accuracy for each axial system is the fundamental requirement to reduce a synchronous motion error of a multi-axis system. Especially, designing a model-based controller for an uncertainty system with unknown parameters is not easy without using system identification. To overcome the mentioned issue, this article proposes a cross-coupling synchronous velocity controller using a backstepping-based model reference adaptive control scheme in an unsymmetrical biaxial winding system called a transformer winding system. The proposed controller deals not only with the uncertainty but also with the recursive structure of the system. The backstepping technique for the recursive structural system and the model reference adaptive control method for the uncertainty of the system are designed to stabilize two axial systems with unknown parameters. An auxiliary system is added to build the proposed controller for coping with input constraints of physical actuators. To improve the proposed controller's ability to cope with external disturbances, a dead-zone modification is utilized to modify the adaptation laws to avoid the drift phenomenon. Moreover, a cross-coupling mechanism is integrated into the proposed controller to reduce the synchronous velocity error between the velocities of the biaxial winding system. The proposed controller is also transformed into discrete time to be run on a digital signal processor alone chip. The experimental results are shown to verify the high performance and efficiency of the proposed controller for practical applications.

关键词： Multi-axis system cross-coupling synchronous velocity model reference adaptive control backstepping technique

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Relaxing the high-frequency gain sign assumption in direct model reference adaptive control

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EUROPEAN JOURNAL OF control 2018年 43卷 12-19页

作者： Gerasimov, Dmitry N. Ortega, Romeo Nikiforov, Vladimir O. ITMO Univ Dept Control Syst & Informat Kronverkskiy Av 49 St Petersburg 197101 Russia CNRS SUPELEC Lab Signaux & Syst F-91192 Gif Sur Yvette France

A new, high performance, solution to the classical problem of direct model reference adaptive control for linear time-invariant systems with unknown sign of the high frequency gain is reported in the paper. The proposed algorithm directly estimates this parameter with the only required prior knowledge of a lower bound on its absolute value. To avoid the possible appearance of singularities in the controller calculation a switched projection mechanism is introduced to change, if needed, the sign of the estimate. The recently introduced dynamic regressor extension and mixing estimator is used to ensure monotonicity of the estimation error of the high frequency gain, guaranteeing that the switching appears (at most) once and avoiding the possible appearance of chattering-that may happen in classical gradient-based algorithms. Comparative simulations with the Nussbaum gain-based and gradient estimators illustrate the dramatic performance improvement of the proposed controller. (C) 2018 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： model reference adaptive control Unknown control direction Fast parametric convergence

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Stability limit of human-in-the-loop model reference adaptive control architectures

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INTERNATIONAL JOURNAL OF control 2018年第10期91卷 2314-2331页

作者： Yucelen, Tansel Yildiz, Yildiray Sipahi, Rifat Yousefi, Ehsan Nhan Nguyen Univ S Florida Dept Mech Engn Tampa FL 33620 USA Bilkent Univ Dept Mech Engn Ankara Turkey Northeastern Univ Dept Mech & Ind Engn Boston MA 02115 USA Natl Aeronaut & Space Adm Intelligent Syst Div Moffett Field CA USA

model reference adaptive control (MRAC) offers mathematical and design tools to effectively cope with many challenges of real-world control problems such as exogenous disturbances, system uncertainties and degraded modes of operations. On the other hand, when faced with human-in-the-loop settings, these controllers can lead to unstable system trajectories in certain applications. To establish an understanding of stability limitations of MRAC architectures in the presence of humans, here a mathematical framework is developed whereby an MRAC is designed in conjunction with a class of linear human models including human reaction delays. This framework is then used to reveal, through stability analysis tools, the stability limit of the MRAC-human closed-loop system and the range of model parameters respecting this limit. An illustrative numerical example of an adaptive flight control application with a Neal-Smith pilot model is presented to demonstrate the effectiveness of developed approaches.

关键词： Uncertain dynamical systems model reference adaptive control human-in-the-loop systems closed-loop system stability human reaction time delay

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Discrete variable structure model reference adaptive control using only input-output measurements

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2018年第3期40卷 861-872页

作者： Znidi, Aicha Dehri, Khadija Nouri, Ahmed Said Univ Gabes Natl Engn Sch Gabes Gabes Tunisia

Designing an adequate controller for a plant with an arbitrary relative degree is still an active area of research. In this paper, a discrete variable structure model reference adaptive control using only input-output measurements (DVS-MRAC-IO) for not strictly positive real systems with a relative degree of two is proposed. In order to show the effectiveness of the proposed controller, a detailed stability analysis is studied using Lyapunov theory. Further, a straightforward generalization of DVS-MRAC-IO for systems with arbitrary relative degree is presented. Numerical results are used to show the effectiveness of the proposed methods.

关键词： Variable structure control model reference adaptive control stability analysis relative degree discrete systems

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H_∞ model reference adaptive control for switched systems based on the switched closed-loop reference model

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NONLINEAR ANALYSIS-HYBRID SYSTEMS 2018年 27卷 92-106页

作者： Xie, Jing Zhao, Jun Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China Shenyang Univ Chem Technol Dept Math & Phys Shenyang 110142 Liaoning Peoples R China

This paper is concerned with the problem of H-infinity state tracking model reference adaptive control for switched systems by the multiple Lyapunov functions method. Neither the measurability of the system state nor the solvability of the H-infinity state tracking model reference adaptive control for each individual subsystem is required. First, to improve the transient performance of switched systems, the closed-loop reference model is introduced to switched systems. Second, the H-infinity state tracking model reference adaptive control problem for switched systems is solved by designing adaptive controllers for subsystems and a switching law. Then, a solvability condition of the H-infinity state tracking model reference adaptive control problem for switched systems is developed. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Switched systems model reference adaptive control Multiple Lyapunov functions H-infinity control The switched closed-loop reference model

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model reference adaptive control Scheme for Retuning Method-Based Fractional-Order PID control with Disturbance Rejection Applied to Closed-Loop control of a Magnetic Levitation System

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JOURNAL OF CIRCUITS SYSTEMS AND COMPUTERS 2018年第11期27卷

作者： Tepljakov, Aleksei Alagoz, Baris Baykant Gonzalez, Emmanuel Petlenkov, Eduard Yeroglu, Celaleddin Tallinn Univ Technol Dept Comp Syst EE-19086 Tallinn Estonia Inonu Univ Dept Comp Engn TR-44280 Malatya Turkey Schindler Elevator Corp 1530 Timberwolf Dr Holland OH 43528 USA

This study demonstrates the utilization of model reference adaptive control (MRAC) for closedl-oop fractional-order PID (FOPID) control of a magnetic levitation (ML) system. Design specifications of ML transportation systems require robust performance in the presence of environmental disturbances. Numerical and experimental results demonstrate that incorporation of MRAC and FOPID control can improve the disturbance rejection control performance of ML systems. The proposed multiloop MRAC-FOPID control structure is composed of two hierarchical loops which are working in conjunction to improve robust control performance of the system in case of disturbances and faults. In this multiloop approach, an inner loop performs a regular closed-loop FOPID control, and the outer loop performs MRAC based on Massachusetts Institute of Technology (MIT) rule. These loops are integrated by means of the input-shaping technique and therefore no modification of any parameter of the existing closed-loop control system is necessary. This property provides a straightforward design solution that allows for independent design of each loop. To implement FOPID control of the ML system, a retuning technique is used which allows transforming an existing PID control loop into an FOPID control loop. This paper presents the simulation and experimental results and discusses possible contributions of multiloop MRAC-FOPID structure to disturbance rejection control of the ML system.

关键词： Fractional-order PID control model reference adaptive control retuning method magnetic levitation system robust performance

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An optimum model reference adaptive control algorithm for smart base-isolated structures

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BULLETIN OF EARTHQUAKE ENGINEERING 2018年第11期16卷 5647-5670页

作者： Zhang, Dongbin Pan, Peng Zeng, Yi Tsinghua Univ Dept Civil Engn Beijing 100084 Peoples R China Tsinghua Univ China Educ Minist Key Lab Civil Engn Safety & Durabil Beijing 100084 Peoples R China Tsinghua Univ Inst Internet Ind Beijing 100084 Peoples R China

In structural control, appropriate control parameters and a stable closed-loop mechanism are required for a controller to achieve optimal performance, particularly in the presence of uncertain structural parameters under external excitation. In this study, an optimum model reference adaptive control (OMRAC) algorithm combining the Linear quadratic regulator method and model reference adaptive control based on Lyapunov stability is proposed. The OMRAC algorithm is implemented and applied to the response control of a base-isolated structure equipped with magneto-rheological dampers under earthquake excitations. The results from a series of numerical simulations that consider the effects of uncertainty within structural parameters are reported. The performance of the OMRAC algorithm is compared with that of other control algorithms in terms of effectiveness and stability. The results suggest that the proposed OMRAC method can successfully compensate for uncertainties in structural parameters, leading the controlled structure to adaptively track the optimal response of the reference model.

关键词： model reference adaptive control Linear quadratic regulator (LQR) Lyapunov stability Base-isolated structure Magneto-rheological (MR) damper

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