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IEEE 61st Conference on Decision and control (CDC)

作者： Sofrony, Jorge Turner, Matthew C. Richards, Christopher M. Univ Nacl Colombia Fac Mech Engn & Mech Fac Engn Bogota Colombia Univ Southhampton Sch Elect & Comp Sci Southampton England Univ Louisville Dept Mech Engn Louisville KY USA

ISBN: (纸本)9781665467612

This paper proposes an anti-windup mechanism for a model reference adaptive control scheme subject to actuator saturation constraints. The proposed compensator has the same architecture as well known non-adaptive schemes, which rely on the assumption that the system model is known fairly accurately. This is in contrast to the adaptive nature of the controller, which assumes that the system (or parts of it) is unknown. The approach proposed here uses of an "estimate" of the system matrices for the anti-windup compensator formulation and modifies the adaptation laws that update the controller gains. It will be observed that if the (unknown) ideal control gain is reached, a type of "model recovery anti-windup" formulation is obtained. In addition, it is shown that if the ideal control signal eventually lies within the control constraints, then, under certain conditions, the system states will converge to those of the reference model as desired. The paper highlights the main challenges involved in the design of anti-windup compensators for model-reference adaptive control systems and demonstrates its success via a flight control simulation.

关键词： model reference adaptive control

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Observer-based model reference adaptive control for unknown time-delay chaotic systems with input nonlinearity

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NONLINEAR DYNAMICS 2012年第2期67卷 1337-1356页

作者： Adloo, Hassan Noroozi, Navid Karimaghaee, Paknosh Shiraz Univ Dept Elect & Comp Engn Shiraz *** Iran

Existence of unknown time-delay in the systems is a drastic restriction that it can menace the stability criteria and even deteriorate the performance system. This undesired case would be more intensified if that the uncertain input nonlinearity effects are also considered. To handle the input nonlinearities effects (results in dead-zone and/or hysteresis phenomena) and also unknown time-delay in the chaotic systems, this paper presents an observer-based model reference adaptive control (MRAC) scheme for a class of unknown time-delay chaotic systems with disturbances. This new method is a delay-independent variable-structure control method which is integrated with an observer system. The main task of the proposed approach is to accomplish a perfect tracking procedure such that unknown parameters are adapted via output estimation error. Furthermore, stability of the closed-loop system is achieved by means of the Lyapunov stability theory. Finally, the proposed methods are applied to some famous chaotic systems to verify the effectiveness of the proposed methods.

关键词： Chaos control model reference adaptive control Observer-based system Dead-zone and hysteresis nonlinearity

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DISTRIBUTED OUTPUT FEEDBACK INDIRECT MRAC OF CONTINUOUS-TIME MULTIAGENT LINEAR SYSTEMS

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SIAM Journal on control and Optimization 2025年第3期63卷 1616-1640页

作者： Guo, Jian Zhang, Yanjun Zhang, Ji-Feng State Key Laboratory of Mathematical Sciences Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China School of Automation Beijing Institute of Technology Beijing100081 China School of Automation and Electrical Engineering Zhongyuan University of Technology Henan Province Zhengzhou450007 China

This paper studies the distributed leader-follower output consensus problem for continuous-time uncertain multiagent linear systems with general input-output forms. Specifically, we extend the well-known output feedback indirect model reference adaptive control (MRAC) and develop a fully distributed output feedback indirect MRAC scheme to achieve closed-loop stability and asymptotic leader-follower output consensus. Compared with the existing results, the proposed distributed MRAC scheme has the following characteristics. First, the orders of each agent's pole/zero polynomials, including the followers and the leader, can differ from others, and the parameters in each follower's pole/zero polynomials are unknown. Second, the proposed adaptive control law of each follower solely relies on the local input and output information without requiring the state observer and the structural matching condition on the followers' dynamics, commonly used in the literature. Third, for any given leader with a relative degree n*, the leader-follower output tracking error and its derivatives up to the n*th order converge to zero asymptotically, which has never been reported in the literature. Finally, a simulation example verifies the validity of the proposed distributed MRAC scheme. © 2025 Society for Industrial and Applied Mathematics.

关键词： model reference adaptive control

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Aircraft system modeling under turbulence conditions and aircraft adaptive turbulence compensation

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2021年第9期43卷 2030-2043页

作者： Wang, Zhaoyu Wen, Liyan Yang, Shaohua Nanjing Univ Aeronaut & Astronaut Coll Automat 29 Jiangjun Ave Nanjing 210016 Peoples R China

An adaptive disturbance rejection control scheme is developed for solving the wind turbulence compensation problem. The turbulence wind studied in this paper is based on the mutual switch of several dominant wind directions. The linear models of aircraft under wind turbulence with different dominant directions are given. An adaptive controller is designed based on the model reference adaptive control when the aircraft encounters the wind turbulence in different dominant directions. Desired closed-loop system stabilization and output tracking have been proven. A simulation study on aircraft compensation has been presented to verify the effectiveness of our designed method.

关键词： Turbulence compensation dominant wind direction model reference adaptive control

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adaptive leader-following consensus control of multi-agent systems using model reference adaptive control approach

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IET control THEORY AND APPLICATIONS 2012年第13期6卷 2002-2008页

作者： Liu, Y. Jia, Y. Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Dept Syst & Control Key Lab Math Informat & Behav Semant LMIB Minist EducSMSS Beijing 100191 Peoples R China

This study is devoted to the adaptive consensus problem of multi-agent systems with partly unknown parameters and bounded external disturbances, under the guidance of an active leader with a reference input signal. Firstly, a distributed adaptive protocol is proposed for the system without disturbances by adopting the model reference adaptive control method. Then it is extended to the disturbed system by adding an adaptive disturbance compensator, based on the estimated upper and lower bounds of unknown disturbance. For the above two cases, sufficient conditions are, respectively, given to ensure that all agents can eventually track the prescribed leader. A numerical simulation illustrates the effectiveness of the proposed adaptive consensus protocol.

关键词： external disturbance Lower bound adaptive control Self tuning model reference adaptive control

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control DESIGN AND SIMULATION FRAMEWORK FOR AN AUTONOMOUS PARAMOTOR UAV

CONTROL DESIGN AND SIMULATION FRAMEWORK FOR AN AUTONOMOUS PA...

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ASME International Design Engineering Technical Conferences / 42nd Annual Computers and Information in Engineering Conference (IDETC-CIE) / 46th Mechanisms and Robotics Conference (MR)

作者： Fiedler, Brett Redkar, Sangram Arizona State Univ Mesa AZ 85212 USA

ISBN: (纸本)9780791886281

This research develops a dynamics and control framework for an unmanned powered parachute system. The 6 DOF dynamics are derived from the first principle/fundamentals. The dynamic equations are simulated and validated within the MATLAB Simulink simulation environment. A model reference adaptive controller algorithm is utilized and simulated to update coefficients to control the plant more accurately. A Computational Fluid Dynamics (CFD) simulation using SimScale is used to estimate aerodynamic coefficients. This paper is presented as a building block/work in progress for future work on robust and efficient adaptive control of powered parachute aerial vehicles. Derivation of the dynamic equations is included in section two, while section three covers methods used to computationally define key aerodynamic coefficients and describe PPC simulation within the MATLAB Simulink environment. Finally, section four presents the results. Further research into this framework will include validating results through experimentation of the PPC aircraft and comparing dynamic model accuracy. Finally, more advanced control techniques will be applied to the PPC model in simulations and experiments.

关键词： Powered Parachute Dynamics Simulation Aerodynamic Coefficient Airfoil model reference adaptive control

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Improving MRAC Transient Response Using Generalized Dynamic Inversion and Nullspace Parametrization 14th

Improving MRAC Transient Response Using Generalized Dynamic ...

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14th IFAC Workshop on adaptive and Learning control Systems (ALCOS)

作者： Mahmoud, Alharith Bajodah, Abdulrahman H. King Abdulaziz Univ Aerosp Engn Dept Jeddah 21589 Saudi Arabia

We demonstrate how the transient response of model reference adaptive control (MRAC) is improved by utilizing Generalized Dynamic Inversion (GDI) and the corresponding nullspace parametrization in the powerful Greville formula. The proposed approach neither alters the reference model structure, nor it modifies it through feedback. Rather, the proposed approach utilizes the control redundancy in matching the reference model for the purpose of designing an MRAC control law that yields good transient closed loop adaptive control response. The adaptive GDI-MRAC control law is composed of two parts: a particular part that enforces the reference model dynamics, and an auxiliary part that is affine in a null control vector. The particular and the auxiliary parts of the adaptive control law are confined in the range space of the transposed control matrix and its orthogonal complement nullspace, respectively. The null control vector is projected onto the nullspace of the control matrix via a null-projection matrix. Hence, the null control vector design does not interfere with the reference model following, yet it can be designed via state feedback to improve closed loop state transient response. An improved Lyapunov control function is used to design the adaptation gains such that asymptotic vanishing of the state error dynamics is guaranteed. Extensive simulations are conducted to demonstrate the efficacy of the proposed method. Copyright (C) 2022 The Authors.

关键词： model reference adaptive control Generalized Dynamic Inversion Null control vector Projection matrix Lyapunov Stability

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Comparative study between L1 adaptive controller and BL1 adaptive controller 10

Comparative study between L1 Adaptive controller and BL1 Ada...

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10th International Conference on Systems and control (ICSC)

作者： Ghodbane, A. Madali, A-S Bensoussan, D. Hammami, M. Ecole Technol Super Montreal PQ Canada Univ Sfax Sfax Tunisia

ISBN: (纸本)9781665465076

Basic L1 adaptive controller [1] is considered to be an improved controller as compared to the traditional Direct and Indirect MRAC (model reference adaptive control). It is proposed to take advantage of the new B control method [2,3] which exhibits improved performances in the time and the frequency domain and integrate these methods. Preliminary comparisons of the transmissions of output to input, as well as to input and output plant disturbances show a definite improvement when integrating L1 control and B control which we name BL1 control.

关键词： model reference adaptive control

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Retrospective Cost model reference adaptive control for Nonminimum-Phase Systems

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JOURNAL OF GUIDANCE control AND DYNAMICS 2012年第6期35卷 1767-1786页

作者： Hoagg, Jesse B. Bernstein, Dennis S. Univ Kentucky Dept Mech Engn Lexington KY 40506 USA Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA

This paper presents a direct model reference adaptive controller for single-input/single-output discrete-time (and thus sampled-data) systems that are possibly nonminimum phase. The adaptive control algorithm requires knowledge of the nonminimum-phase zeros of the transfer function from the control to the output. This controller uses a retrospective performance, which is a surrogate measure of the actual performance, and a cumulative retrospective cost function, which is minimized by a recursive-least-squares adaptation algorithm. This paper develops the retrospective cost model reference adaptive controller and analyzes its stability.

关键词： Retrospective Cost model reference adaptive control Single Input Single Output System Ailerons Elevator Deflection Output Feedback Inertial Measurement Unit Sampled Data Systems Flight Path Angle Numerical Simulation

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Robust adaptive control of the Offshore Produced Water Treatment Process: An Improved Multivariable MRAC-Based Approach

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WATER 2024年第6期16卷 899页

作者： Kashani, Mahsa Jespersen, Stefan Yang, Zhenyu Aalborg Univ AAU Energy Niels Bohrs vej 8 DK-6700 Esbjerg Denmark

The application of deoiling hydrocyclone systems as the downstream of three-phase gravity separator (TPGS) systems is one of the most commonly deployed produced water treatment processes in offshore oil and gas production. Due to the compact system's complexity and tailor-made features, it is always challenging to develop some optimally coordinated control solution for the coupled hydrocyclone and TPGS systems. It is obvious that coordinated control can better fulfill legislative discharge regulation by robustly maintaining high separation efficiencies. This paper presents a new control solution for a set of integrated hydrocyclone and TPGS systems by applying an improved multi-variable model reference adaptive control (MV-MRAC) approach with the aim of achieving both asymptotic output tracking and unknown disturbance rejection. A robust MV-MRAC controller design is proposed based on a control parameterization derived from a factorization of a high-frequency gain matrix Kp=LDS as a product of three matrices, where L represents unity lower triangular, D=sign(D) represents diagonal, and S represents positive definite, and a teaching-learning-based optimization (TLBO) algorithm for optimizing the adaption rates. The developed solution is analyzed and compared with a commonly deployed PI control solution on a model that is derived from a lab-scale produced water treatment process. This simulation study demonstrates the promising potential of the proposed control solution compared with the currently deployed PI control solution.

关键词： deoiling hydrocyclone model reference adaptive control multivariable output tracking disturbance rejection water treatment process

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