In this work, a model reference adaptive control-based estimated algorithm is proposed for online multi-parameter identification of surface-mounted permanent magnet synchronous machines. By taking the dq-axis equation...
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In this work, a model reference adaptive control-based estimated algorithm is proposed for online multi-parameter identification of surface-mounted permanent magnet synchronous machines. By taking the dq-axis equations of a practical motor as the referencemodel and the dq-axis estimation equations as the adjustable model, a standard model-reference-adaptive-system-based estimator was established. Additionally, the Popov hyperstability principle was used in the design of the adaptive law to guarantee accurate convergence. In order to reduce the oscillation of identification result, this work introduces a first-order low-pass digital filter to improve precision regarding the parameter estimation. The proposed scheme was then applied to an SPM synchronous motor control system without any additional circuits and implemented using a DSP TMS320LF2812. For analysis, the experimental results reveal the effectiveness of the proposed method.
The paper proposes an estimation and control method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws, where formation patterns can be formed by assigning eige...
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ISBN:
(纸本)9781728157429
The paper proposes an estimation and control method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws, where formation patterns can be formed by assigning eigenvalues of the system to be marginally stable. In the present paper, a Linear Quadratic Estimator (LQE), used to estimate the absolute position based on information exchange, is coupled with a model reference adaptive control (MRAC) to sustain the motion of agents and thus maintain the desired patterns in the presence of uncertainties and noise. Simulation results are provided to verify the proposed approach in area coverage applications.
This paper investigates the model reference adaptive control problem for a class of linear networked control systems with unknown parameters and intermittent denial-of-service (DoS) attacks. An output feedback based a...
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ISBN:
(数字)9781728154145
ISBN:
(纸本)9781728154145
This paper investigates the model reference adaptive control problem for a class of linear networked control systems with unknown parameters and intermittent denial-of-service (DoS) attacks. An output feedback based adaptive resilient controller is designed by adopting the projection technique. A sufficient condition, regarding the frequency and duration constraints for DoS attacks, is provided such that the global uniform boundedness of all the closed-loop signals can be guaranteed despite the occurrence of DoS attacks. Moreover, the error performance is analysed. Simulation results are given to demonstrate the theoretical finding.
作者:
Nhan NguyenHashemi, KelleyArabi, EhsanYucelen, TanselNASA
Ames Res Ctr Adv Control & Evolvable Syst Grp Intelligent Syst Div Moffett Field CA 94035 USA NASA
Ames Res Ctr Intelligent Syst Div Moffett Field CA 94035 USA Univ Michigan
Aerosp Engn Dept Ann Arbor MI 48109 USA Univ S Florida
Lab Auton Control Informat & Syst Dept Mech Engn Tampa FL 33620 USA
This paper presents a Hamilton's principle for distributed control of infinite-dimensional systems modeled by a distributed form of the Euler-Lagrange method. The distributed systems are governed by a system of li...
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ISBN:
(数字)9781624105951
ISBN:
(纸本)9781624105951
This paper presents a Hamilton's principle for distributed control of infinite-dimensional systems modeled by a distributed form of the Euler-Lagrange method. The distributed systems are governed by a system of linear partial differential equations in space and time. A generalized potential energy expression is developed that can capture most physical systems including those systems that have no spatial distribution. The Hamilton's principle is applied to derive distributed feedback control methods without resorting to the standard weak-form discretization approach to convert an infinite-dimensional systems to a finite-dimensional systems. It can be shown by the principle of least action that the distributed control synthesized by the Hamilton's principle is a minimum-norm control. A model-referenceadaptivecontrol framework is developed for distributed Lagrangian systems in the presence of uncertainty. The theory is demonstrated by an application of adaptive flutter suppression control of a flexible aircraft wing.
This paper proposes a new control strategy to the problem of trajectory tracking of SCARA robotic manipulator system by using a fractional order model reference adaptive controller (FMRAC) for sufficiently smooth traj...
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In this paper, a Proportional-Integral-Derivative (PID) controller tuning scheme by Initialized model reference adaptive control (IMRAC) for a Lower Limb Exoskeleton (LLE) is presented. Mathematical expression of the ...
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In this paper, a Proportional-Integral-Derivative (PID) controller tuning scheme by Initialized model reference adaptive control (IMRAC) for a Lower Limb Exoskeleton (LLE) is presented. Mathematical expression of the LLE structure is determined using Lagrangian and Kirchoff's equations. The transfer function of the structure based on the physical features of the links, and actuators is established under Range of Motion (RoM) condition. The PID controller of the LLE is tuned in a closed-loop control system using Ziegler-Nichols (Z-N) for initializing parameters of IMRAC. Adjustment mechanism is a gradient based method for real-time adaptation of tuned PID controller. A Lyapunov function has been applied to confirm the stability of IMRAC. The proposed IMRAC shows faster convergence in comparison with conventional non-initialized model reference adaptive control. It can be ascertained the proposed tuning scheme is applicable for real-time tuning of PID controller of LLE.
Introduction: Magnetically controlled shape memory alloy (MSMA) actuators take advantages of their large deformation and high controllability. However, the intricate hysteresis nonlinearity often results in low positi...
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Introduction: Magnetically controlled shape memory alloy (MSMA) actuators take advantages of their large deformation and high controllability. However, the intricate hysteresis nonlinearity often results in low positioning accuracy and slow actuator response. Methods: In this paper, a modified Krasnosel'skii-Pokrovskii model was adopted to describe the complicated hysteresis phenomenon in the MSMA actuators. adaptive recursive algorithm was employed to identify the density parameters of the adopted model. Subsequently, to further eliminate the hysteresis nonlinearity and improve the positioning accuracy, the model reference adaptive control method was proposed to optimize the model and inverse model compensation. Results: The simulation experiments show that the model reference adaptive control adopted in the paper significantly improves the control precision of the actuators, with a maximum tracking error of 0.0072 mm. Conclusions: The results prove that the model reference adaptive control method is efficient to eliminate hysteresis nonlinearity and achieves a higher positioning accuracy of the MSMA actuators.
In this paper, the problem of model reference adaptive control for nonlinear switched systems with parametric uncertainties is investigated. Asynchronous switching between subsystems and adaptivecontrollers is also c...
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In this paper, the problem of model reference adaptive control for nonlinear switched systems with parametric uncertainties is investigated. Asynchronous switching between subsystems and adaptivecontrollers is also considered. Firstly, a state feedback adaptivecontroller is designed. Then, sufficient conditions ensuring the global practical stability of the error switched system with average dwell time are proposed. The boundedness of all signals in the closed-loop system is guaranteed by the proposed adaptivecontroller. Finally, a practical example is given to demonstrate the validity of the main results. Copyright (C) 2016 John Wiley & Sons, Ltd.
model reference adaptive control takes the output of a referencemodel as the target and ensures that the actual output is consistent with the target. In this scenario, the referencemodel determines the performance o...
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model reference adaptive control takes the output of a referencemodel as the target and ensures that the actual output is consistent with the target. In this scenario, the referencemodel determines the performance of the control system. Constructing a referencemodel with specific performance is challenging, and most researchers construct the referencemodel by experience. As alternative frameworks, we propose two novel referencemodel construction methods, namely, zero-pole method and frequency response method. The zero-pole method establishes a nonlinear optimization model to ensure that the added zeros and poles are as far away from the imaginary axis as possible. In the case where this cannot be done, the frequency response method matches the system frequency response of the referencemodel and the given model to the extent possible using a nonlinear optimization model. Experimental results are presented to confirm that both methods can construct a referencemodel based on a given transfer function. Deviations in response between the referencemodels constructed using the two methods and the given model are compared, and the reasons for higher accuracy of the frequency response method are discussed.
This paper provides a novel method to improve the transient performance of the model reference adaptive control (MRAC) system. In this proposed framework, a new compensator constructed using the known dynamics is empl...
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ISBN:
(纸本)9789811072123;9789811072116
This paper provides a novel method to improve the transient performance of the model reference adaptive control (MRAC) system. In this proposed framework, a new compensator constructed using the known dynamics is employed to reshape the referencemodel. Then to retain the closed-loop system stability, a modified adaptive law is provided to diminish the disparity between the modified referencemodel and the original referencemodel. Through this modification, the norm bound of the tracking error can be reduced via rigorous theoretical analysis. A wing-rock aircraft is used as the simulation example to verify the effectiveness of the proposed control strategy. It is shown in simulations that the high-frequency components in the tracking error and control signals can be diminished, and the improved transient response of the proposed control can be achieved in comparison to the standard MRAC.
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