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第41届中国控制会议

作者： Penghao Chen Fei Liu Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The model reference adaptive control(MRAC) issue is addressed for a class of first-order linear time-invariant system(LTIS) with unknown control gain and asymmetric static output *** output constraints is efficiently handled by incorporating a barrier Lyapunov function(BLF).Completely unknown control gain is handled based on the Nussbaum *** the aid of Lyapunov synthesis method,the adaptive laws of unknown parameters are *** the properties of BLF and Barbalat's Lemma,it is proved that the tracking error converges asymptotically to zero while the output satisfies the *** comparison of the two simulation results is employed to demonstrate the efficacy of the suggested MRAC algorithm.

关键词： model reference adaptive control Asymmetrical static output constraints Barrier Lyapunov function Unknown control gain Nussbaum function

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model reference adaptive control for the inclined channel stablization loop of missile

Model reference adaptive control for the inclined channel st...

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2021 International Conference on control Theory and Applications, ICoCTA 2021

作者： Lu, Juanzhi Liu, Lin Dong, Shimeng Zhang, Xiaoming Xi'An Modem Control Technology Research Institute 710065 China

This paper, A model reference adaptive control method based Lyapunov stability theory is proposed, because it is difficult for the control of inclined channel of missile, due to large disturbance and the dramatic change of missile parameter during the flight. The core strategy is that the real system can be adjusted automatically and in real time to be consistent with the reference model as far as possible, when the output of the real system is different from that of the reference model, so that the real system can run in the best state, this control method can well adapt to the changes of control parameters and external environment. The rationality and validity of the method has been verified by mathematical simulation. © Published under licence by IOP Publishing Ltd.

关键词： model reference adaptive control

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Robustness analysis of model reference adaptive control in the presence of input rate saturation using the describing function method

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INTERNATIONAL JOURNAL OF DYNAMICS AND control 2024年第5期12卷 1415-1426页

作者： Tavakkoli, Fatemeh Khosravi, Alireza Sarhadi, Pouria Babol Noshirvani Univ Technol Fac Elect & Comp Engn Babol Iran Univ Hertfordshire Sch Phys Engn & Comp Sci Hatfield AL10 9AB Herts England

This paper proposes a stability analysis method for a closed-loop system consisting of a second-order system and model reference adaptive controller (MRAC) with an input rate limited based on describing function method. The method allows prediction of oscillation characteristics for a wide range of system conditions, saturation, and control system parameters. The method includes quasi-linearization of the nonlinear element of the system via a Describing Function (DF) approach and then shaping the loop to reach desired limit-cycle characteristics. As the DF method is used, loop shaping takes place in the Nyquist diagram. The efficacy of the proposed method is analyzed by studying vehicle lateral dynamics in the presence of the actuator rate saturation and unmodeled dynamics. Simulation studies carried out in time and frequency domains, are used to assess the accuracy of the proposed method.

关键词： Describing function Rate limited model reference adaptive control Unmodeled dynamic

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model reference adaptive control for Ball-and-Plate System 25

Model Reference Adaptive Control for Ball-and-Plate System

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2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic control, ICA-ACCA 2022

作者： Ahuar, Reinier Lopez Cedeno, Angel L. Olivares, Manuel Aguero, Juan C. Silva, Cesar A. Universidad Técnica Federico Santa María Están en El Departamento de Ingeniería Electrónica Valparaíiso2390123 Chile Centro Avanzado de Ingeniería Eléctrica y Electrónica AC3E Valparaíso2390123 Chile

ISBN: (纸本)9781665494083

This work addresses the problem of controlling the ball-and-plate system using the model reference adaptive control technique. This approach uses state feedback with adaptive parameters to control the ball's position on the plate. The adaptive law is designed using the Lyapunov approach and a pole-placement-based reference model. Using this model, the reference signal, and the system measurements, it is possible to adapt the control parameters online to achieve the asymptotic convergence of the system states to the reference model states. The proposed controller is tested in Matlab/Simulink, where the good performance of the proposed control scheme is shown. © 2022 IEEE.

关键词： model reference adaptive control

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Event-triggered robust model reference adaptive control for drag-free satellite

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ADVANCES IN SPACE RESEARCH 2023年第11期72卷 4984-4996页

作者： Sun, Xiao-Yun Shen, Qiang Wu, Shu-Fan Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai 200240 Peoples R China Shanghai Frontier Sci Ctr Gravitat Wave Detect Shanghai 200240 Peoples R China

Aiming at the requirement of bounded disturbance suppression for low-frequency space gravitational wave detection satellite, a robust model reference adaptive drag-free control scheme is proposed in this paper via linear matrix inequalities (LMIs) approach. The multivariable model reference adaptive control (MRAC) scheme is applied to the drag-free control system with parameter uncertainties, which realizes the adaptive tracking to the reference state. The LMI system is established as an adaptive compensation term, which provides robustness against nonlinear disturbances. To reduce the communication burden of the actuation information and further save the total energies, an event-triggered mechanism (ETM) is introduced, with both the actuation inputs and the adaptive laws of the feedback gains updated only at the triggering time instants. The ultimately uniformly boundedness of the closed-loop signals is proved by Lyapunov analysis, with each system state convergence. From the feasibility analysis, Zeno behavior can be further proved to be strictly excluded. The numerical simulation verifies that the proposed scheme has efficient robustness to nonlinear disturbances with low energy cost, and achieves good effect in response to the requirements of space gravitational wave detection mission.(c) 2023 Published by Elsevier B.V. on behalf of COSPAR.

关键词： Space gravitational wave detection Drag-free control Linear matrix inequality Event triggered mechanism model reference adaptive control

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Multi-input enhanced model reference adaptive control strategies and their application to space robotic manipulators

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第10期33卷 5246-5272页

作者： Montanaro, Umberto Martini, Simone Hao, Zhou Gao, Yang Sorniotti, Aldo Univ Surrey Sch Mech Engn Sci Guildford England Univ Denver D F Ritchie Sch Engn & Comp Sci Denver CO USA Univ Surrey Ctr Vis Speech & Signal Proc Dept Elect & Elect Engn Guildford England Univ Surrey Sch Mech Engn Sci STAR Lab Guildford England Univ Surrey Sch Mech Engn Sci Guildford GU2 7XH England

The Enhanced model reference adaptive control (EMRAC) algorithm, augmenting the MRAC strategy with adaptive integral and adaptive switching control actions, is an effective solution to impose reference dynamics to plants affected by parameter uncertainties, unmodeled dynamics and disturbances. However, the design of the EMRAC solutions has so far been limited to single-input systems. To cover the gap, this paper presents two extensions of EMRAC to multi-input systems. The adaptive mechanism of both solutions includes the sigma$$ \sigma $$-modification strategy to assure the boundedness of the adaptive gains also in presence of persistent disturbances. The closed-loop system is analytically studied, and conditions for the asymptotic convergence of the tracking error are presented. Furthermore, when the plant is subjected to unmatched disturbances, the ultimate boundedness of the closed-loop dynamics, which are made discontinuous by the adaptive switching control actions, is systematically proven by using Lyapunov theory for Filippov systems. The problem of trajectory tracking for space robotic arms in presence of unknown and noncooperative targets is used to test the effectiveness of the novel multi-input EMRAC algorithms for taming uncertain systems. Four EMRAC solutions are designed for this engineering application, and tested within a high fidelity simulation framework based on the Robot Operating System. Finally, the tracking performance of the EMRAC implementations is quantitatively evaluated via a set of key performance indicators in the joint space and operational space, and compared with that of four benchmarking controllers.

关键词： control of robotic arms for space applications mechatronic model reference adaptive control nonlinear control

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Encrypted model reference adaptive control With False Data Injection Attack Resilience via Somewhat Homomorphic Encryption-Based Overflow Trap

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 262-272页

作者： Blevins, Jacob Ueda, Jun Georgia Institute of Technology G.W.W. School of Mechanical Engineering AtlantaGA30332 United States

Cloud-based control is prevalent in many modern control applications. Such applications require security for the sake of data secrecy and system safety. The presented research proposes an encrypted adaptive control framework that can be secured for cloud computing with encryption and without issues caused by encryption overflow and large execution delays. This objective is accomplished by implementing a somewhat homomorphic encryption (SHE) scheme on a modified model reference adaptive controller with accompanying encryption parameter tuning rules. Additionally, this paper proposes a virtual false data injection attack (FDIA) trap based on the SHE scheme. The trap guarantees a probability of attack detection by the adjustment of encryption parameters, thus protecting the system from malicious third parties. The formulated algorithm is then simulated, verifying that after tuning encryption parameters, the encrypted controller produces desired plant outputs while guaranteeing detection or compensation of FDIAs. With the utilization of this novel control framework, adaptively controlled systems will maintain data confidentiality and integrity against malicious adversaries. © 2023 IEEE.

关键词： model reference adaptive control

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Two-Degree-of-Freedom based model reference adaptive control of Non-minimum Phase System

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IETE JOURNAL OF RESEARCH 2023年第7期69卷 4337-4348页

作者： Pal, M. Sarkar, G. Barai, R. K. Roy, T. Jadavpur Univ Dept Elect Engn Kolkata WB India MCKV Inst Engn Dept Elect Engn Liluah Howrah India

This paper presents the design of the Two-Degree-of-Freedom (2DOF) based model reference adaptive control (MRAC) as a tracking control system for the Non-minimum Phase (NMP) system. Perfect set point tracking is possible by using a cascade-connected inverse and non-inverse transfer function model of the dynamic system. But this method is restricted to the minimum phase system only, whereas, NMP system produces unbounded output response using this inverse model technique. Though, adaptive inverse feed-forward control technique is an effective tracking control system, it also requires an inverse model of the system. To overcome this problem, a novel feed-forward MRAC scheme for the inverse NMP model and the State feedback controller of the non-inverse model has been proposed, and both the controller are decoupled in a 2DOF framework. The feed-forward control technique guaranteed the tracking performance using the Lyapunov stability theory, and the feedback counterpart enhances the steady-state performance of the NMP plant. The robustness of the asymptotic stability as well as tracking performance of the closed-loop NMP system has been ensured by the proposed 2DOF control based MRAC technique. The effectiveness of the proposed control structure initially has been verified by the MATLAB Simulink toolbox and, then the demand has been strengthened by the implementation of the same control logic in the real-time environment using analog simulation with Op-amp based hardware model.

关键词： Analog model reference adaptive control non-minimum phase Op-amp state feedback Two-Degree-of-Freedom

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Gain-Scheduled model reference adaptive control for a Guided Projectile

Gain-Scheduled Model Reference Adaptive Control for a Guided...

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AIAA SciTech Forum

作者： Gruenwald, Benjamin C. Bryson, Joshua T. US Army Combat Capabil Dev Command Army Res Lab Flight Sci Branch Army Res Lab Weap & Mat Res Directorate Aberdeen Proving Ground MD 21005 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper documents current research on a gain-scheduled model reference adaptive control approach for projectiles operating within an extended flight envelope. Baseline control for the projectile is attained using a three-loop autopilot gain-scheduled across angle-of-attack and airspeed. A model reference adaptive control architecture is augmented to the baseline gain-scheduled controller to suppress the effect of system uncertainties. This methodology is implemented on a generic tail-controlled guided projectile to illustrate the approach. The baseline three-loop autopilot is tuned using a low-fidelity aerodynamic model of the projectile. Differences between this low-fidelity model used for controller design and a separate, highfidelity "truth" model used for simulation result in degraded performance of the baseline controller, illustrating the challenges of control design using limited system information. The model reference adaptive control augmentation is shown to suppress much of the effect of this model mismatch and recover desired performance across the flight envelope.

关键词： model reference adaptive control Guided Projectiles Autopilot Aerodynamic Angle Flight Envelope Airspeed Earth reference Frame Neural Networks Aerodynamic Moments Simulink

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Distributed model reference adaptive control for an Uncertain Modular Robotic System

Distributed Model Reference Adaptive Control for an Uncertai...

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AIAA SciTech Forum

作者： Vongkunghae, Thitiphun Aly, Islam A. Dogan, K. Merve Embry Riddle Aeronaut Univ Dept Aerosp Engn 1 Aerosp Blvd Daytona Beach FL 32114 USA Embry Riddle Aeronaut Univ Fdn Autonomous Syst & Technol FAST Lab 1 Aerosp Blvd Daytona Beach FL 32114 USA Amer Inst Aeronaut & Astronaut Reston VA 20191 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

A distributed adaptive control design for an uncertain modular robotic system is proposed in this paper. Specifically, a modular robotic system that consists of multiple robot manipulators that are subject to uncertain non-linear robot parameters and robot-based uncertainties is considered. A distributed adaptive control is designed to compensate for uncertain non-linear robot parameters and robot-based uncertainties, closed-loop system stability analysis is shown via Lyapunov stability analysis, and simulation results are provided on a modular system.

关键词： model reference adaptive control Mobile Robots Robotic Manipulators Feedback control Basis Function Dynamic modelling Industrial Automation Mathematical models control Algorithm Robotics

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