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adaptive control of Aircraft in Icing Using Regulation-Triggered Batch Least-Squares Identifier

JOURNAL OF GUIDANCE control AND DYNAMICS 2021年第10期44卷 1721-1731页

作者： Shaghoury, Samer Krstic, Miroslav Wise, Kevin Sci Applicat Int Corp Clearfield UT 84015 USA Univ Calif San Diego Dept Mech & Aerosp Engn Cymer Ctr Control Syst & Dynam La Jolla CA 92093 USA Boeing Co St Louis MO 63166 USA

Extensive effort in controller design of aircraft systems is invested ensuring safe, stable behavior in spite of large parametric uncertainties. Particular attention is placed on anomalous flight conditions harbored by the atmosphere, especially icing. This paper presents a regulation trigger-based adaptive controller to cope with the impact of ice on the aircraft equations of motion and to control the aircraft pitch to the commanded angle. For a pitch model of an aircraft system with the impact of icing, the design of a stabilizing certainty-equivalence controller using backstepping is first given, and it is succeeded by the introduction of a regulation-triggered batch least-squares identifier. A theorem is incorporated that guarantees that 1) pitch angle and pitch rate converge to the setpoint asymptotically, and 2) parameter estimates end after a finite number of switches. Finally, simulation results of an aircraft experiencing icing demonstrate the effectiveness of the identifier, with the trajectory of the iced system using the proposed identifier closely following that of the nominal system.

关键词： model reference adaptive control Aircraft Icing Aircraft Systems Elevator Deflection Aerodynamic Coefficients Aircraft Configurations Flight Path Angle Icing Conditions Airspeed Federal Aviation Administration

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An optimal MRAC-ASMC scheme for robot manipulators based on the artificial bee colony algorithm

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TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING 2021年第3期45卷 487-495页

作者： Mahmoodabadi, Mohammad Javad Shahangian, Mohammad Mehdi Nejadkourki, Nahid Sirjan Univ Technol Dept Mech Engn Sirjan Iran

In this paper, an optimal multi-adaptive robust controller is proposed for robot manipulators using the gradient descent method and artificial bee colony. At first, model reference adaptive control (MRAC) and sliding mode control (SMC) are separately designed for handling a robot manipulator with two revolute (2R) joints. Further, the coefficients of the sliding surfaces and control efforts are updated via a suitable adaptive mechanism based on the gradient descent method. In addition, to minimize the weighted summation of integral time absolute error (ITAE), some constant parameters of the controllers are determined by the artificial bee colony optimization algorithm. Finally, comparisons and performance tests are illustrated to demonstrate the effectiveness and superiority of the proposed control scheme for trajectory tracking in comparison with other traditional approaches.

关键词： model reference adaptive control sliding mode control gradient descent method artificial bee colony 2R robot manipulator

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model-Free Data-Driven Prescribed-TimePerformance control for Underactuated ASV

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhao, Ying Lu, Wenlong Guo, Ge Dalian Maritime University Marine Electrical Engineering College Dalian116026 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Northeastern University at Qinhuangdao School of Control Engineering Qinhuangdao066004 China

In this paper, a model-free data-driven prescribedtime-performance (DDPTP) algorithm is developed for the underactuated autonomous surface vehicle (ASV). By defining a leader to provide the dynamic reference signal, the proposed DDPTP algorithm can achieve high-precision target tracking tasks while ensuring collision avoidance and connectivity between the leader and follower. A prescribed-time-performance function (PTPF) is designed for the ASV, featuring an adaptive shape and customizable convergence time. By using both real-time and historical data, a data-driven neural predictor (DDNP) is developed to estimate system uncertainties including unmodeled dynamics, unknown environmental disturbances and unknown input gains. An adaptive control law is employed based on the knowledge obtained from the DDNP, without relying on prior information about the motion model parameters. A switching dynamic event-triggered mechanism (SDETM) is introduced, which can switch between fixed-threshold triggering mechanism and dynamic event-triggered mechanism (DETM). Through this SDETM, not only are communication resources conserved, but frequent updates of the control signal are also mitigated. The effectiveness of the proposed algorithm is validated through verification simulations. © 1967-2012 IEEE.

关键词： model reference adaptive control

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Design of a Taguchi-GRA optimized PID and adaptive PID controllers for speed control of DC motor

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ARCHIVES OF ELECTRICAL ENGINEERING 2021年第4期70卷 759-775页

作者： George, Mary Ann Kamat, Dattaguru, V Manipal Acad Higher Educ MAHE Manipal Inst Technol Dept Elect & Commun Engn Manipal 576104 Karnataka India

DC motors have wide acceptance in industries due to their high efficiency, low costs, and flexibility. The paper presents the unique design concept of a multi-objective optimized proportional-integral-derivative (PID) controller and model reference adaptive control (MRAC) based controllers for effective speed control of the DC motor system. The study aims to optimize PID parameters for speed control of a DC motor, emphasizing minimizing both settling time (T-s) and % overshoot (% OS) of the closed-loop response. The PID controller is designed using the Ziegler Nichols (ZN) method primarily subjected to Taguchi-grey relational analysis to handle multiple quality characteristics. Here, the Taguchi L9 orthogonal array is defined to find the process parameters that affect T-s and % OS. The analysis of variance shows that the most significant factor affecting T-s and % OS is the derivative gain term. The result also demonstrates that the proposed Taguchi-GRA optimized controller reduces T-s and % OS drastically compared to the ZN-tuned PID controller. This study also uses MRAC schemes using the MIT rule, Lyapunov rule, and a modified MIT rule. The DC motor speed tracking performance is analyzed by varying the adaptation gain and reference signal amplitude. The results also revealed that the proposed MRAC schemes provide desired closed-loop performance in real-time in the presence of disturbance and varying plant parameters. The study provides additional insights into using a modified MIT rule and the Lyapunov rule in protecting the response from signal amplitude dependence and the assurance of a stable adaptive controller, respectively.

关键词： analysis of variance Lyapunov rule MIT rule model reference adaptive control Taguchi-grey relational analysis

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Parametric uncertain second-order linear system output-adaptive stabilization: An integral and MRCA based approach

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EUROPEAN JOURNAL OF control 2021年 57卷 76-81页

作者： Aguilar-Ibanez, Carlos Saldivar, Belem Jimenez Lizarraga, Manuel Garcia-Canseco, Eloisa Garrido, Ruben Inst Politecn Nacl Ctr Invest Comp Ciudad De Mexico Mexico Univ Autonoma Estado Mexico Fac Ingn Toluca Estado De Mexic Mexico Univ Autonoma Nuevo Leon Fac Ciencias Fis Matemat Monterrey Mexico Univ Autonoma Baja California Fac Ciencias Mexicali Baja California Mexico CINVESTAV Dept Control Automat Ciudad De Mexico Mexico

This work proposes a solution for the adaptive stabilization of second-order linear systems with unknown parameters using only position measurements. Only the sign of the control law is known and the system is affected by constant perturbations. The crux of the proposed control scheme the use of an alternative representation of the system obtained through integrating over time the original system representation. In this way, the whole state of the alternative representation is available from measurements, and an extended state space representation is obtained through the alternative representation and the differential equation related to the integral over time of the original input. Later, an adaptive control methodology and an backstepping procedure are used to establish closed-loop stability. Simulation results support the findings. (C) 2020 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Second order systems Parametric uncertainty model reference adaptive control Output feedback Lyapunov Method Barbalat's Lemma

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A neural network based MRAC scheme with application to an autonomous nonlinear rotorcraft in the presence of input saturation

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ISA TRANSACTIONS 2021年 115卷 1-11页

作者： Wang, Yu Li, Aijun Yang, Shu Li, Qiang Ma, Zhao Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China Aviat Key Lab Sci & Technol Aircraft Control Xian Peoples R China

This paper develops a neural-network-based model reference adaptive control (MRAC) scheme for a rotorcraft in the presence of input saturation. Such a control scheme provides acceptable tracking performance for the rotorcraft in a wide range of flight conditions. Combined with hyperbolic tangent functions, the MRAC scheme is capable of tracking the reference signals without violating input constraints. A modified projection operator is utilized to prevent system from parameter drift due to the strong nonlinearity and uncertainty of the rotorcraft mathematical model. Stability of the proposed MRAC scheme is proved based on Lyapunov stability theory. The performance of the resulting controller is tested by conducting numerical simulations for an autonomous rotorcraft in various flight missions. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： model reference adaptive control Input saturation Neural network control Nonlinear rotorcraft model Projection operator

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adaptive control of coupled dynamical systems: a mixed state and output feedback framework

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INTERNATIONAL JOURNAL OF control 2021年第7期94卷 1765-1783页

作者： Yucelen, Tansel Gruenwald, Benjamin C. Dogan, K. Merve Chakravarthy, Animesh Menon, Alok Univ S Florida Dept Mech Engn Engn Bldg C 22094202 East Fowler Ave Tampa FL 33620 USA Univ Texas Arlington Dept Mech & Aerosp Engn Arlington TX 76019 USA Wichita State Univ Dept Aerosp Engn Wichita KS USA

This paper studies a class of coupled dynamical systems consisting of an actuated dynamical system interconnected with an unactuated dynamical system. The actuated dynamical system is considered to have a measurable state for feedback control, whereas only the output is available from the unactuated dynamical system. Specifically, the control objective for this class of dynamical systems is to allow a desired subset of the state of the actuated dynamical system to follow given commands in the presence of uncertain parameters and unactuated dynamical system coupling. To this end, our contribution is a mixed state and output feedback framework in the context of model reference adaptive control, which is predicated on integrated nominal and adaptive control laws. The key feature of the proposed model reference adaptive control architecture is to guarantee stability of the closed-loop coupled dynamical system as well as to assign user-defined bounds on system error trajectories utilised by the adaptive control law for achieving a prescribed level of overall system performance.

关键词： Coupled dynamical systems system uncertainties model reference adaptive control mixed state and output feedback control stability and performance guarantees

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Feedback flow control on a plunging circular cylinder

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Physics of Fluids 2024年第4期36卷 047126-047126页

作者： Lin, Ching-Te Tsai, Hsieh-Chen Department of Mechanical Engineering National Taiwan University Taipei Taiwan

In this study, closed-loop flow control is implemented in order to attenuate the lift fluctuation of a circular cylinder oscillating harmonically in a uniform stream. Through the numerical simulation of the incompressible flow around the oscillating cylinder, a time-invariant base flow is obtained by averaging the flow over time to linearize the incompressible Navier-Stokes equations in the cylinder-fixed frame. A resolvent-analysis-based model derived from the linearized equations is used to design two linear feedback control schemes. First, the loop-shaping method is adopted to design a robust controller that maximizes the stability margin and rejects the disturbance imposed by the periodic boundary condition. The simulation shows this control scheme can reduce the lift fluctuation by 3.3%. Furthermore, the model reference adaptive control is introduced to deal with the time-varying linear plant due to the addition of the controller. A direct approach of this control is adopted to directly update the time-varying adaptive control gains. The results show that the adaptive controller successfully reduces lift fluctuation by 19.7%. © 2024 Author(s).

关键词： model reference adaptive control

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adaptive control for H∞tracking of uncertain dynamical systems

Adaptive control for H∞tracking of uncertain dynamical syst...

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2022 SICE International Symposium on control Systems, SICE ISCS 2022

作者： Gebremedhin, Atsede G. Fujisaki, Yasumasa Osaka University Department of Information and Physical Sciences Suita Osaka565-0871 Japan

ISBN: (纸本)9784907764746

An adaptive control is proposed for H∞ tracking of uncertain dynamical systems. A reference model which achieves a robust tracking in the presence of L2 disturbances is introduced by using H∞ control with transients. Then an adaptive control law is developed for uncertain dynamical systems, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed adaptive control in the presence of disturbances and uncertainties. An explicit error bound of tracking is also established. © 2022 The Society of Instrument and control Engineers.

关键词： model reference adaptive control

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On Hyper-Stability Theory Based Multivariable Nonlinear adaptive control: Experimental Validation on Induction Motors

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IET Electric Power Applications 2025年第1期19卷

作者： Bekhiti, Belkacem Nail, Bachir Tibermacine, Imad Eddine Salim, Ramzi Blida Algeria Faculty of Sciences and Technology University of Ziane Achour Djelfa Algeria Department of Computer Automation and Management Engineering Sapienza University of Rome Rome Italy Laboratoire d’Automatique et Analysis des Systems National Polytechnic School Oran Algeria

This paper presents a novel hyperstability-based adaptive control strategy for induction motors, distinguishing itself from conventional model reference adaptive control (MRAC) approaches by integrating enhanced robustness against parametric uncertainties and external disturbances. Unlike traditional adaptive controllers, the proposed Hyper-stable adaptive controller (H-MRAC) ensures improved transient performance and faster convergence rates, validated through both theoretical analysis and experimental verification. Key innovations include the integration of hyper-stability theory into adaptive control design and a comprehensive evaluation of parameter uncertainties, which significantly improves motor performance in variable conditions. Experimental results demonstrate a 42% reduction in integral squared error (ISE), a 37% improvement in integral absolute error (IAE), a 28.7% improvement in integral time absolute error (ITAE) and a 25% faster convergence compared to standard MRAC. A detailed comparison with passivity-based control strategies shows a 26.5% improvement in steady-state performance and 30% faster transient response. Despite these successes, the paper discusses limitations related to computational complexity, real-time implementation challenges, and the impact of sensor noise on control performance. The potential need for DSPs or FPGA-based solutions is also addressed. Finally, the generalisability of the proposed control method across different motor types and power ratings is considered with future directions for broader validation in diverse industrial scenarios. © 2025 The Author(s). IET Electric Power Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： model reference adaptive control

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