A distributed robust adaptivecontrol framework is proposed for an adaptive cruise control system. The proposed approach is designed based on the model reference adaptive control approach. A robust control term is emp...
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ISBN:
(纸本)9798350328066
A distributed robust adaptivecontrol framework is proposed for an adaptive cruise control system. The proposed approach is designed based on the model reference adaptive control approach. A robust control term is employed to make the system robust to any bounded disturbances, and a concurrent learning framework is leveraged to ensure the convergence of estimated parameters. The main feature of the developed robust adaptive cruise controller is that it does not require the speed of the lead vehicle. It also considers uncertainties in both position and speed in the double integrator model. The string stability notion of the proposed approach is also investigated, and the performance of the control framework is evaluated in simulations in the presence of parametric uncertainties, disturbances, and noise.
The control problem of VTOL UAV is studied in this paper. To manage the complexity of the control problem, the system dynamics are decomposed into two subsystems, i.e. translational dynamics and rotational or attitude...
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ISBN:
(数字)9781624107047
ISBN:
(纸本)9781624107047
The control problem of VTOL UAV is studied in this paper. To manage the complexity of the control problem, the system dynamics are decomposed into two subsystems, i.e. translational dynamics and rotational or attitude dynamics. A robust controller for both dynamics using extended sliding mode control (SMC) is designed to maintain the external disturbance in the closed-loop systems. Also, the chattering problem in conventional SMC is attenuated using the proposed scheme. The idea behind the controller design is to handle the disturbances in the closed loop by dominating the uncertainties. The stability of the whole closed-loop system is proven by presenting rigorous mathematical analysis. Moreover, the performance of the proposed controller is demonstrated by conducting several numerical simulations.
This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The control scheme ...
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A multi-objective modelreference modified adaptive PID controller is designed in this paper for voltage and current regulation of microgrid system under various load conditions. The performance of microgrid may deter...
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ISBN:
(纸本)9781538682524
A multi-objective modelreference modified adaptive PID controller is designed in this paper for voltage and current regulation of microgrid system under various load conditions. The performance of microgrid may deteriorate due to the variation of load dynamics. The goal of designed controller is to confirm the reliable performance under various load dynamics. The controller is designed based on selecting the desired referencemodel and controlling parameters. The designed controller effectivness is figured out against different 3 0 load dynamics such as consumer load, balance and unbalance load. The evaluation prove that the designed controller is capable of providing safe and stable performance for three-phase islanded microgrid system
Power sharing amongst sources can he improved in an islanded microgrid by utilizing the information of the network's impedance. In this paper, an impedance based modelreferenceadaptive system (Z-MRAS) scheme is ...
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Power sharing amongst sources can he improved in an islanded microgrid by utilizing the information of the network's impedance. In this paper, an impedance based modelreferenceadaptive system (Z-MRAS) scheme is proposed to estimate the impedance angle for converter based distributed generators (DGs) in the islanded mode. The focus is to enhance the proportional apparent power sharing between the DGs operated using generalized droop control (GDC). The performance of GDC depends on the effective tie-line impedance between the DGs and the proposed MRAS scheme provides the feedback of the estimated impedance angle. The accuracy of the impedance angle estimation is established for various tie-line X/R ratios, and this results in enhanced power sharing performance for balanced, harmonic, unbalanced, dynamic and constant power load cases as well as parallel line and underground cable cases. The proposed method is validated through off-line simulations in MATLAB and controller hardware in loop (CHIL) using real time simulator (Opal-RT) including cases of meshed networks and DC plug and play for a modified CIGRE network.
To address the multivariable control problem of turbofan engines with matched uncertainty and slow actuator dynamics (SAD), a bi-objective optimal modification adaptivecontrol scheme is proposed. A singular perturbat...
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To address the multivariable control problem of turbofan engines with matched uncertainty and slow actuator dynamics (SAD), a bi-objective optimal modification adaptivecontrol scheme is proposed. A singular perturbation approach is introduced to transform the plant and actuator dynamics into a reduced-order system with slow time coordinate. Based on this reduced-order system, the bi-objective optimal modification adaptive law (BOMAL) is deduced. Meanwhile, the stability of BOMAL is analyzed based on Lyapunov approach. The simulation results demonstrate that the proposed adaptivecontrol method can effectively handle the control problem of turbofan engines with SAD. The superiority of the proposed bi-objective optimal modification adaptivecontroller is benchmarked with an LMI optimization gain scheduled controller and a mu synthesis controller.
This paper addresses a model reference adaptive controller which has simpler structure, fewer adjustable parameters, easier operation and accurate tracking capability even in the presence of external disturbances and ...
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Concerning automated vehicles, various path-following controllers have been designed by the model reference adaptive control (MRAC) approach. Through appropriate Lyapunov redesigns, asymptotical stability and signal b...
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The aim of overhead crane control is to transport the payload to the desired location rapidly and accurately while simultaneously eliminating *** this end,a modelreferenceadaptive Sliding Mode control(MRASMC)is prop...
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The aim of overhead crane control is to transport the payload to the desired location rapidly and accurately while simultaneously eliminating *** this end,a modelreferenceadaptive Sliding Mode control(MRASMC)is proposed for overhead crane systems with ***,the MRASMC method does not require prior knowledge of the model parameters and friction,whereas this requirement is usually needed in conventional *** comparison with Sliding Mode control(SMC),the proposed method has stronger robustness with respect to extraneous ***,an adaptive sliding mode controller with a moving surface is designed to avoid the tradeoff between steady-state error and chattering *** techniques are utilized to prove the convergence and stability of the closed-loop *** results are presented to illustrate the effectiveness of the proposed controller.
A unified disturbance rejection problem based on model reference adaptive control (MRAC) technique is addressed. When the full-state vector is not operational in feedback, we use partial-state signal y(-)(t) to design...
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ISBN:
(纸本)9781713872344
A unified disturbance rejection problem based on model reference adaptive control (MRAC) technique is addressed. When the full-state vector is not operational in feedback, we use partial-state signal y(-)(t) to design a disturbance rejection controller. The parametrization and disturbance compensation techniques are necessary for designing adaptivecontrol strategy to deal with systems uncertainties and unknown disturbances. This scheme guarantees the desired system performances, including closed-loop system stability as well as asymptotic output tracking. The proof progress of system stability is elaborated.
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