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model reference adaptive control (MRAC)-based parameter identification applied to surface-mounted permanent magnet synchronous motor

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INTERNATIONAL JOURNAL OF ELECTRONICS 2017年第11期104卷 1854-1873页

作者： Zhong, Chongquan Lin, Yaoyao Dalian Univ Technol Fac Elect Informat & Elect Engn Dalian Liaoning Peoples R China

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 reference model 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.

关键词： Permanent magnet synchronous motor (PMSM) model reference adaptive control parameter identification Popov hyperstability TMS320LF2812

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Generalized Cyclic Pursuit: An Estimator-Based model-reference adaptive control Approach 28

Generalized Cyclic Pursuit: An Estimator-Based Model-Referen...

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28th Mediterranean Conference on control and Automation (MED)

作者： Ansart, Antoine Juang, Jyh-Ching NCKU Dept Elect Engn Tainan Taiwan

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.

关键词： model reference adaptive control

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model reference adaptive Resilient control of Uncertain Linear Systems with Intermittent DoS Attacks 46

Model Reference Adaptive Resilient Control of Uncertain Line...

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46th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Han, Zhen Wang, Wei Yu, Mengze Fan, Huijin Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan Peoples R China

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.

关键词： Networked control System model reference adaptive control Denial-of-Service Attack

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model-reference adaptive control of Distributed Lagrangian Infinite-Dimensional Systems Using Hamilton's Principle

Model-Reference Adaptive Control of Distributed Lagrangian I...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Nhan Nguyen Hashemi, Kelley Arabi, Ehsan Yucelen, Tansel NASA 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

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-reference adaptive control 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.

关键词： model reference adaptive control Aircraft Wings Full State Feedback Hamiltonian Functions Linear Quadratic Gaussian Kinetic Energy Pitching Moment Distributed control System Nonlinear control Structural Damping

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Fractional order model reference adaptive control for SCARA robot trajectory tracking

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International Journal of Industrial and Systems Engineering 2018年第2期30卷 138-156页

作者： Bensafia, Yassine Ladaci, Samir Khettab, Khatir Chemori, Ahmed Electrical Engineering Department Bouira University Bouira10000 Algeria Department of EEA National Polytechnic School of Constantine Ali Mendjli Constantine25000 Algeria Department of Electronics SP-Lab Laboratory University of Constantine 1 Constantine25000 Algeria Department of Electrical Engineering University of M’sila M’sila28000 Algeria LIRMM CNRS Univ. Montpellier 2 161 rue Ada Montpellier34095 France

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 trajectories. Over the few last years the idea of introducing fractional calculus and systems in adaptive control has found a great interest, for the benefits one can win in the performances given by such systems. The main contribution of this paper, is to show that the proposed fractional adaptive controller is able to reduce the delay time and the overshoot existing in classical control approach. Simulation results illustrate the effectiveness of the proposed control approach comparatively to the classical integer order one. Copyright © 2018 Inderscience Enterprises Ltd.

关键词： model reference adaptive control

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Initialized model reference adaptive control for Lower Limb Exoskeleton

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IEEE ACCESS 2019年 7卷 167210-167220页

作者： Amiri, Mohammad Soleimani Ramli, Rizauddin Ibrahim, Mohd Faisal Univ Kebangsaan Malaysia Fac Engn & Built Environm Ctr Mat Engn & Smart Mfg Bangi 43600 Malaysia Univ Kebangsaan Malaysia Fac Engn & Built Environm Ctr Integrated Syst Engn & Adv Technol Bangi 43600 Malaysia

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.

关键词： Proportional-integral-derivative controller lower limb exoskeleton Lyapunov method model reference adaptive control

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model reference adaptive control based on KP model for magnetically controlled shape memory alloy actuators

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JOURNAL OF APPLIED BIOMATERIALS & FUNCTIONAL MATERIALS 2017年第1_suppl期15卷 S31-S37页

作者： Zhou, Miaolei Zhang, Yannan Ji, Kun Zhu, Dong Jilin Univ Dept Control Sci & Engn Changchun Peoples R China Jilin Univ Hosp 1 Dept Orthoped Traumatol Changchun 130021 Peoples R China

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.

关键词： adaptive recursive algorithm Hysteresis nonlinearity Krasnosel'skii-Pokrovskii model Magnetically controlled shape memory alloy model reference adaptive control

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model reference adaptive control for nonlinear switched systems under asynchronous switching

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2017年第1期31卷 3-22页

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

In this paper, the problem of model reference adaptive control for nonlinear switched systems with parametric uncertainties is investigated. Asynchronous switching between subsystems and adaptive controllers is also considered. Firstly, a state feedback adaptive controller 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 adaptive controller. Finally, a practical example is given to demonstrate the validity of the main results. Copyright (C) 2016 John Wiley & Sons, Ltd.

关键词： nonlinear switched systems model reference adaptive control global practical stability asynchronous switching average dwell time

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A method to construct a reference model for model reference adaptive control

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ADVANCES IN MECHANICAL ENGINEERING 2019年第11期11卷

作者： Su, Shi-jie Zhu, Yuan-yuan Wang, Hai-rong Yun, Chen Jiangsu Univ Sci & Technol Sch Mech Engn 2 Mengxi Rd Zhenjiang 212003 Jiangsu Peoples R China Zhoushan Inst Calibrat & Testing Qual & Technol S Zhoushan Peoples R China

model reference adaptive control takes the output of a reference model as the target and ensures that the actual output is consistent with the target. In this scenario, the reference model determines the performance of the control system. Constructing a reference model with specific performance is challenging, and most researchers construct the reference model by experience. As alternative frameworks, we propose two novel reference model 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 reference model 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 reference model based on a given transfer function. Deviations in response between the reference models constructed using the two methods and the given model are compared, and the reasons for higher accuracy of the frequency response method are discussed.

关键词： Frequency response method model reference adaptive control reference model construction method zero-pole method

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Improving Transient Performance of Modified model reference adaptive control 9th

Improving Transient Performance of Modified Model Reference ...

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9th International Conference on modelling, Identification and control (ICMIC)

作者： Yang, Jun Liu, Yafei Na, Jing Gao, Guanbin Kunming Univ Sci & Technol Fac Mech & Elect Engn Kunming 650500 Yunnan Peoples R China

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 reference model. Then to retain the closed-loop system stability, a modified adaptive law is provided to diminish the disparity between the modified reference model and the original reference model. 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.

关键词： model reference adaptive control Nonlinear uncertain dynamics system Transient performance Robustness

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