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Reinforcement Learning-Assisted Composite adaptive control for Time-Varying Parameters

IFAC-PapersOnLine 2020年第2期53卷 9515-9520页

作者： Seong-hun Kim Hanna Lee Youdan Kim Department of Aerospace Engineering Seoul National University Seoul Korea

adaptive control methods have received a lot of interest to control uncertain systems with parametric uncertainties. In particular, composite adaptation law that incorporates a memory storing the past trajectory data is promising, because it has an exponential convergent rate for both the tracking error and the parameter estimation under a mild condition of excitation. In this study, this research direction is extended to cope with uncertain parameters that change over time, which is difficult to solve with traditional memory-based methods. The problem is formulated into a Markov decision process, and a reinforcement learning algorithm is adopted to solve the optimal decision making problem. The proposed formulation preserves the stability of the original composite adaptive system, and the reinforcement learning agent can learn the optimal composite strategy.

关键词： model reference adaptive control Intelligent control Learning control Uncertain dynamic systems Markov decision processes

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adaptive Iterative Learning control of Robot Manipulators for Friction Compensation 8

Adaptive Iterative Learning Control of Robot Manipulators fo...

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8th International-Federation-of-Automatic-control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (IFAC) Symposium on Nonlinear control Systems (NOLCOS)

作者： Lee, Richard Sun, Liting Wang, Zining Tomizuka, Masayoshi Univ Calif Berkeley Berkeley CA 94720 USA

Iterative learning control (ILC) has been well recognized for its ability to improve the tracking performance of systems that perform repetitive tasks. Its achievable performance, however, can be significantly degraded by the presence of non-repetitive disturbances which vary every iteration. Such may be a case for high-precision robot manipulators which are commonly subject to nonlinear and velocity-dependent friction forces. With a traditional PD-type ILC scheme, as joint velocities change along iterations, friction forces can vary substantially and deteriorate the performance of ILC. To address this problem, we propose an adaptive ILC algorithm, in which an adaptive friction compensation signal is introduced with ILC to adaptively identify the friction model over multiple iterations. Theoretical convergence analysis is provided with simulation verification on a 3-degree-of-freedom (DOF) planar manipulator. Experimental verification is also performed on a 5-DOF robot for silicon wafer handling. The verification results show that the proposed adaptive ILC approach can achieve significantly better tracking performance than traditional ILC methods. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Iterative learning control model reference adaptive control Nonlinear friction identification Robots

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An adaptive Haptic Aid Based on Pilot Performance

An Adaptive Haptic Aid Based on Pilot Performance

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Arenella, Antonio D'Intinot, Giulia Olivari, Mario Billthof, Heirich H. Pollini, Lorenzo Univ Pisa Dipartimento Ingn Informaz Fac Automat Engn I-56126 Pisa Italy Max Planck Inst Biol Cybernet D-72076 Tubingen Germany

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

This paper presents an adaptive Haptic Aid (AHA) for shared control applications. The aim of this work is to design a haptic support system that adapts the amount of aid based on pilot performance. model reference adaptive control (MRAC) is used to adapt the parameters of the haptic feedback in order to achieve a desired level of performance. A simulation study is conducted to test the adaptive system with different pilots models. Eventually, a human-in-the-loop experiment is performed to validate the AHA adaptation system. Both the simulation and the experimental results show that the amount of provided help is related to the pilot skills. Specifically, the haptic force increases when the pilot shows a lack of performance. Experimental results also show the benefits produced by using the adaptive Haptic Aid compared to no-aided systems.

关键词： Pilot Human In The Loop model reference adaptive control Aerospace Simulation Automatic control Pilot control Spectral Analysis Damping Ratio

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Load Frequency control through DFIM-based Pumped Storage Hydro

Load Frequency Control through DFIM-based Pumped Storage Hyd...

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IEEE-Power-and-Energy-Society General Meeting (PESGM)

作者： Nag, Soumyadeep Lee, Kwang Y. Suchitra, D. Mediratta, Vineet Baylor Univ Dept Elect & Comp Sci Waco TX 76798 USA SRM Univ Dept Elect Engn Chennai Tamil Nadu India Univ Petr & Energy Studies Dept Power Syst Engn Dehra Dun Uttarakhand India

ISBN: (纸本)9781728119816

Pumped storage hydro (PSH) with doubly-fed induction machines (DFIMs) is a viable alternative to the conventional PSH with synchronous machine. This paper investigates the ability of the DFIM-based PSH to provide the required support to frequency disturbances due to large output variation of high voltage (HV) grid connected solar farms. This paper is concerned with frequency support while the DFIM is operating as a pump. It is found that the nonlinearities of a centrifugal load connected to the grid can be accommodated by the use of model reference adaptive control (MRAC) system. Using MRAC, speed reference tracking can be improved significantly. Also, an algorithm has been investigated to supervise the droop constant of the DFIM so as to enhance the rate of change of frequency (ROCOF), which when used simultaneously with the MRAC based speed control, results in a better frequency profile.

关键词： Doubly-fed induction machine variable speed pumped hydro model reference adaptive control nonlinear systems frequency control

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An adaptive approach to longitudinal platooning with heterogeneous vehicle saturations 15th

An adaptive approach to longitudinal platooning with heterog...

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15th International-Federation-of-Automatic-control (IFAC) Symposium on Large Scale Complex Systems (IFAC LSS)

作者： Tao, Tian Jain, Vishrut Baldi, Simone Delft Univ Technol Delft Ctr Syst & Control Delft Netherlands Southeast Univ Sch Math Nanjing Jiangsu Peoples R China

adaptive CACC strategies have been recently proposed to stabilize a platoon with non-identical and uncertain vehicle dynamics (heterogeneous platoon). This work proposes a method to augment such strategies with a mechanism coping with saturation constraints (i.e. engine constraints). In fact, in a platoon of heterogeneous vehicles, engine constraints might lead to loss of cohesiveness. The proposed mechanism is based on making the reference dynamics (i.e the dynamics to which the platoon should homogenize) 'not too demanding', by applying a properly designed saturation action. Such saturation action will allow all vehicles in the platoon not to hit their engine bounds. Cohesiveness will then be achieved at the price of losing some performance, which is in line with the state of art studies on this topic. Simulations on a platoon of 5 vehicles are conducted to validate the theoretical analysis. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Cooperative adaptive cruise control engine constraints heterogeneous platoon model reference adaptive control

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adaptive control of Nonlinear Spur Gear Dynamics with Parametric Disturbance Rejection 23

Adaptive Control of Nonlinear Spur Gear Dynamics with Parame...

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23rd International Conference on System Theory, control and Computing (ICSTCC)

作者： Dogruer, C. U. Yilmaz, Korhan Babacan Yildirim, Bora Hacettepe Univ Dept Mech Engn Ankara Turkey

ISBN: (纸本)9781728106991

This paper presents a model reference adaptive control method to reduce the excessive amplitude of nonlinear vibration occurring between the meshing teeth of a gear pair. Using this model reference adaptive control, it has been shown that harmonic components of a truncated Fourier series approximating the periodic mesh stiffness can be learned and finite number of harmonics of the periodic mesh stiffness can be canceled by a modulated torque. With the use of Lyapunov stability analysis, it has been shown that error dynamics of the closed-loop gear pair system driven by a torque generator supervised by the model reference adaptive control law is asymptotically stable.

关键词： model reference adaptive control Nonlinear gear dynamics Parametric excitation

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Jackknife prevention for articulated vehicles using model reference adaptive control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2011年第D1期225卷 28-42页

作者： Chen, L-K Shieh, Y-A Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei 10672 Taiwan

This paper investigates the use of differential breaking to prevent jackknifing of tractor-semi-trailer vehicles. The model reference adaptive control (MRAC) technique is used to design a controller that is able to address the effects caused by changes in the loading conditions of the semi-trailer. The MRAC controller is first evaluated using computer simulations which show that the controller is able to effectively respond to changes in loading conditions. A scale model of a tractor-semi-trailer vehicle is constructed to act as a platform on which to perform experiments. Using this scale model it is shown that differential braking is able to reduce the fifth wheel angle in a constant-speed turning manoeuvre. Furthermore, it is experimentally confirmed that the controller can adaptively provide control actions to respond to changes in the semi-trailer's loading conditions. It is also experimentally shown that braking while performing a turning manoeuvre is detrimental for fifth wheel angle stability, and that differential braking can create significant stability improvements in this situation.

关键词： model reference adaptive control jackknife prevention

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Optimal control Design with adaptive Nominal Loop

Optimal Control Design with Adaptive Nominal Loop

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Hashemi, Kelley E. Greenough, Ryan Nguyen, Nhan T. Stinger Ghaffarian Technol Inc Intelligent Syst Div Moffett Field CA 94035 USA Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA NASA Ames Res Ctr Intelligent Syst Div Moffett Field CA 94035 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

This paper examines the use of model reference adaptive control augmented by an optimal controller to address tracking performance and robustness of an adaptive system. A nominal adaptive controller is first designed for a linear system with full state feedback. After closing the nominal loop a cost function is used to determine a separate control input that augments the nominal adaptive system. Lyapunov stability analysis is used to show that the total control system ensures tracking error remains bounded. A simple numerical example illustrates that use of the augmenting optimal controller in conjunction with the nominal adaptive controller offers improved transient performance as well as performance improvement when considering the effects of disturbances and unmodeled dynamics. Similar improvements are demonstrated in a more complex, time-varying simulation of a flexible wing transport aircraft.

关键词： Nominal State feedback optimal controllers design control Cost functions Transient performance visual tracking adaptive systems Linear system adaptive controller performance boost model reference adaptive control Loops Contraceptive Coil

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Nonlinear Dynamic Inversion based Attitude control for a Hovering Quad Tiltrotor eVTOL Vehicle

Nonlinear Dynamic Inversion based Attitude Control for a Hov...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Lombaerts, Thomas Kaneshige, John Schuett, Stefan Hardy, Gordon Aponsoli, Bimal Shish, Kimberlee NASA Ames Res Ctr Stinger Ghaffarian Technol Intelligent Syst Div Mail Stop 269-1 Moffett Field CA 94035 USA NASA Ames Res Ctr Intelligent Syst Div Mail Stop 269-1 Moffett Field CA 94035 USA NASA Ames Res Ctr Intelligent Syst Div Mail Stop 269-3 Moffett Field CA 94035 USA NASA Ames Res Ctr Moffett Field CA 94035 USA Sci Applicat Int Corp Moffett Field CA 94035 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

Urban Air Mobility is a future mode of transportation that will require a revolutionary new vehicle concept. One of the concepts currently being studied and developed are tiltrotor eVTOL (electrical vertical takeoff and landing) vehicles. One of the many challenges that these vehicles face is manual nonlinear flight control with a focus on minimum required pilot training. This paper discusses a nonlinear dynamic inversion based attitude control law that was designed for this quad tiltrotor vehicle concept. Two advantageous inherent properties of dynamic inversion in this setup are the effective decoupling of the control axes which are by design highly coupled for this kind of vehicle, and its ability to naturally handle changes of operating condition, which removes the need for gain scheduling. These are advantageous for control of tiltrotor VTOL vehicles, due to their wide range of operating conditions which varies from hover to forward flight, and transitioning between them. The inner dynamic inversion control loop, including control allocation to the four rotors, will serve as a core flight control system to which further developments can be naturally added such as autoflight and adaptive flight envelope protection.

关键词： Nonlinear Dynamic Inversion Attitude control Multirotor model reference adaptive control Flight control Design Urban Air Mobility Vertical Take off and Landing Flight Envelope Protection control Surfaces Aerodynamic Force Coefficients

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control of a Coupled CSTR Process using MRAC-MIT Rule

Control of a Coupled CSTR Process using MRAC-MIT Rule

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IEEE International Conference on Innovations in Power and Advanced Computing Technologies

作者： Mathew, Eva Pawar, Tanmay Pandian, Jaganatha B. Vellore Inst Technol Dept Control & Automat Vellore Tamil Nadu India

ISBN: (纸本)9781538681909

Chemical processes can be controlled using a continuous stirred tank reactor (CSTR) in process industries. A CSTR is a highly non-linear system and this non-linearity makes the chemical process unstable. This proposed work deals with the temperature control of cascadedCSTR by implementing model reference adaptive control (MRAC) method based on MIT rule. Initially, a mathematical model was developed both in MATLAB and Simulink and the open loop response is obtained. The model was analyzed at steady state and dynamic state using the differential equations. A reference model was generated about the stable operating points of the CSTR. Proceeding, the adaptation scheme was implemented using MIT rule wherein the given two tank CSTR model was designed to adapt to the reference model. The adaptive control method provides satisfactory results and the performance of the control method is presented using Simulink and MATLAB.

关键词： Dual CSTR model reference adaptive control MIT rule

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