Due to their large volume structure, when a heavy vehicle encounters sudden road conditions, emergency turns, or lane changes, it is very easy for vehicle rollover accidents to occur;however, well-designed suspension ...
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Due to their large volume structure, when a heavy vehicle encounters sudden road conditions, emergency turns, or lane changes, it is very easy for vehicle rollover accidents to occur;however, well-designed suspension systems can greatly reduce vehicle rollover occurrence. In this article, a novel semi-active suspension adaptivecontrol based on AdaBoost algorithm is proposed to effectively improve the vehicle rollover stability under dangerous working conditions. This research first established a vehicle rollover warning model based on the AdaBoost algorithm. Meanwhile, the approximate skyhook damping suspension model is established as the referencemodel of the semi-active suspension. Furthermore, the model reference adaptive control (MRAC) system is established based on Lyapunov stability theory, and the adaptivecontroller is designed. Finally, on the same road condition, the rollover warning control simulations are carried out under the following conditions: the 180-degree step, the fishhook, and the double-lane-change condition. Simulation results show that the proposed referenceadaptivecontrol based on the AdaBoost algorithm for rollover control can effectively predict vehicle rollover in early warning and improve the anti-rollover capability of vehicles.
In this paper. the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described...
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In this paper. the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described by a partial, rather than ordinary, differential equation. The MRAC problem is formulated as an initial value problem of coupled partial and ordinary differential equations in weak form. The well-posedness of the initial value problem is proved. The control law is derived by using the Lyapunov redesign method on an infinite dimensional Hilbert space. Uniform asymptotic stability of the closed loop system is established, and asymptotic tracking, i. e., convergence of the state-error to zero, is obtained. With an additional persistence of excitation condition for the referencemodel, parameter-error convergence to zero is also shown. Numerical simulations are provided.
In this paper some problems concerning the control of multifunctional manipulators (industrial robots) with high speed continuous movements are investigated. Although deterministic approaches to the control of robots,...
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In this paper some problems concerning the control of multifunctional manipulators (industrial robots) with high speed continuous movements are investigated. Although deterministic approaches to the control of robots, whose model are highly interconnected and non-linear, are known alternative approaches based on the modelreferenceadaptive System (MRAS) method of control are possible and useful. In the paper it is proved that a generalized MRAS control assures the convergence to a suitable referencemodel for a class of processes: the manipulator is shown to belong to such a class. The paper is completed by some applications evaluated by simulation.
The role of model reference adaptive control is under consideration for a computer based feedback system which will regulate the infusion rate of a drug (nitroprusside) in order to maintain desired blood pressure. Bec...
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The role of model reference adaptive control is under consideration for a computer based feedback system which will regulate the infusion rate of a drug (nitroprusside) in order to maintain desired blood pressure. Because the transfer function parameters are different for each patient and furthermore are variable with time, an adaptive algorithm is desirable for maintaining both steady-state and transient specifications. To this effect, computer simulation has shown that direct (or implicit) modelreference procedures might be successfully applied to the control of blood pressure despite the uncertainty in the delays, time constant and gains. Additional efforts concerned with the actual demonstration of these concepts on dogs have further supported the role of adaptivecontrol for blood pressure regulation.
For systems with limited control authority and a control design that does not prevent saturation from occurring, using a linear referencemodel can introduce problems, especially when the external command is not neces...
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ISBN:
(纸本)9781424477463
For systems with limited control authority and a control design that does not prevent saturation from occurring, using a linear referencemodel can introduce problems, especially when the external command is not necessarily conditioned to respect the capabilities of the plant. An example of this is commanding a large step command that cannot really be achieved linearly by the plant due to limited control authority. Linear referencemodels will attempt to elicit a linear response in the plant when no such response is possible (peaking). Although providing a realistic command that can be tracked is the job of the planner or trajectory generator, it is desirable if unrealistic commands can be handled at the referencemodel by shaping its own response trajectory in a way that prevents premature saturation of control signals. This paper introduces referencemodels that are linear locally but limit their internal dynamics using saturation functions as a part of its dynamics.
This paper develops a model reference adaptive controller (MRAC) scheme for a split dc-link dual-active-bridge (SDLDAB)-based multiport converter (MPC). The proposed controller's control parameters are adaptively ...
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ISBN:
(纸本)9798350370577
This paper develops a model reference adaptive controller (MRAC) scheme for a split dc-link dual-active-bridge (SDLDAB)-based multiport converter (MPC). The proposed controller's control parameters are adaptively adjusted as the converter parameters vary under different conditions. It does not require the state-space modelling of the converter, unlike in a conventional proportional-integral (PI) controller. By estimating the control parameters using an adaptation law, the performance of the MRAC is compared with a PI controller in order to illustrate the effectiveness and resilience of the adaptive operation. The developed method was tested on MATLAB/Simulink software.
In this paper we formulate and solve the problem of model reference adaptive control for unit memory discrete repetitive processes by employing a lifting technique that allows us to view the system as a first-order mu...
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ISBN:
(纸本)9781424453634
In this paper we formulate and solve the problem of model reference adaptive control for unit memory discrete repetitive processes by employing a lifting technique that allows us to view the system as a first-order multivariable plant. An adaptivecontroller gain adjustment algorithm in the iteration domain is given that ensures convergence of the tracking error between the output of the process and the output of a given referencemodel when the plant and referencemodel are driven by the same input.
It is typically proven in adaptivecontrol that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement co...
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ISBN:
(纸本)9781665436595
It is typically proven in adaptivecontrol that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the d-step ahead control settings that if, as part of the adaptivecontroller, a parameter estimator based on the original projection algorithm is used and the parameter estimates are restricted to a convex set, then the closed-loop system experiences linear-like behavior: exponential stability, a bounded gain on the noise in every p-norm, and a convolution bound on the exogenous inputs;this can be leveraged to provide tolerance to unmodelled dynamics and plant parameter time-variation. In this paper, we extend the approach to the more general model reference adaptive control (MRAC) problem and demonstrate that we achieve the same desirable linear-like closed-loop properties.
In the context of industry 4.0 and the fast development taking place nowadays all over the world towards industry 5.0, it's obvious that Robots are playing a very important role in this context alongside human in ...
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In the context of industry 4.0 and the fast development taking place nowadays all over the world towards industry 5.0, it's obvious that Robots are playing a very important role in this context alongside human in incorporating sustainability and resilience aims. so that, the robotic non-contact manipulation in the field of industry, medicine and chemical processes is considered as a main core nowadays due to its ability to achieve the desired targets with high accuracy, less time and less faults to do such a duty, and this depends on how to control the robotic operations effectively to fulfill the proper demands. This research article proposed the model reference adaptive control approach to be applied for the first time on one of the most well-known non-contact methods which is acoustic levitation based on standing waves. The control approach used in this study succeeded in accomplishing the required performance and keeping the levitated particle at the desired point within the sonic field.
The bandwidth of the actuator dynamics plays a crucial role in the closed-loop system stability as well as in achieving a desired level of system performance. Altering the ideal reference system, known as the pseudo-c...
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ISBN:
(数字)9781624105951
ISBN:
(纸本)9781624105951
The bandwidth of the actuator dynamics plays a crucial role in the closed-loop system stability as well as in achieving a desired level of system performance. Altering the ideal reference system, known as the pseudo-control hedging method, can partially overcome this limitation by separating the adaptation process from the actuator dynamics. However, the calculated system error between the uncertain dynamical system trajectories and the ideal referencemodel trajectories can be conservative and depend on the bounds on the system uncertainties. In this paper, we consider uncertain dynamical systems with high-order actuator dynamics that captures a wide range of applications. To address the aforementioned problem, we utilize a set-theoretic model reference adaptive control architecture to impose a user-defined performance bound on the system error vector. This user-defined bound can then characterize the system error between the uncertain dynamical system trajectories and the ideal referencemodel trajectories. To validate the efficacy of the results, we illustrate an application of the proposed control scheme on a generic transport model developed by NASA for both longitudinal and lateral-directional dynamics.
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