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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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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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Comparison of MRAC and L1 adaptive controllers for a Gimbaled Mini-Free Flyer

Comparison of MRAC and L1 Adaptive Controllers for a Gimbale...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Verberne, Johannes A. Betancur, Yomary A. Rivera, Karina P. Coulter, Nolan Moncayo, Hever Embry Riddle Aeronaut Univ Dept Aerosp Engn Adv Dynam & Control Res Lab Daytona Beach FL 32114 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

Intelligent mini-flying robotic vehicles powered by cold gas jets that fall in the category of Extreme Access Flyers (EAF) have gained popularity in recent years due to their ability to potentially explore and extract resources from the rough and mainly inaccessible landscape of space bodies. One particular field of interest in these missions is the area of failure and disturbance rejection. These EAFs are subjected to many unique types of disturbances which would need to be rejected by the control laws. This paper focusses on the design, implementation, and comparison analysis of Direct model reference adaptive controller (MRAC) augmentation and L1 adaptive control application for attitude stability of a Gimbaled Mini-Free Flyer vehicle in the presence of uncertainties such as thruster swiveling angle lock and saturation failures within a simulation environment. The Gimbaled Mini-Free Flyer vehicle is controlled by a propulsion system in conjunction with a thrust vectoring actuation configuration. The proposed architecture includes Non-Linear Dynamic Inversion (NLDI) implemented as a baseline controller and augmented with the adaptive control laws. The robustness and performance of the control algorithms are analyzed in this paper and numerical simulations are provided showing acceptable tracking performance of the attitude angles under the presence of disturbances.

关键词： model reference adaptive control Thrust Vector control Attitude Stabilization control Algorithm Propulsion System Numerical Simulation Attitude Tracking Feedback Linearization Yaw Aerospace Engineering

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adaptive control designed by online solving for Riccati and Lyapunov equations with nonlinear flight body

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INTERNATIONAL JOURNAL OF AUTOMATION AND control 2020年第3期14卷 304-332页

作者： Ahmed, Mohamed Fawzy Dorrah, Hassen Taher Cairo Univ Fac Engn Giza Egypt

The aim of this paper is to control the path for nonlinear missile model in the pitch channel using model reference adaptive control (MRAC) andL(1)adaptive control with linear quadratic regulator time-varying (LQRTV) strategy. Linear time-varying (LTV) model is designed where their parameters are varying with time. The nonlinear flying body,LTVmodel, and two adaptive control structures are modelled mathematically in the MATLAB-Simulink *** control is designed usingLTVmodel by online solving of Riccati Equation to get time-varying state feedback gainK(t). adaptive control structures are designed using closed loopLTVmodel by online solving of Lyapunov equation to get time-varying Lyapunov gain matrixP(t).LQRTVand Lyapunov weight matrixes are tuned by Simulink design optimisation method. The results of two adaptive controls with the nonlinear flying body are compared. The wind effect and the dynamic uncertainties are researched.

关键词： nonlinear missile model linear time-varying model LTV linear quadratic regulator time-varying LQRTV model reference adaptive control MRAC L(1)adaptive control simulink design optimisation method wind effect dynamic uncertainties

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Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Input Constrained M-MRAC for Multirotors Operating in an Urb...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Stepanyan, Vahram Krishnakumar, Kalmanje Univ Space Res Assoc NASA Ames Res Ctr Mail Stop 269-1 Columbia MD 21046 USA NASA Ames Res Ctr Intelligent Syst Div Mail Stop 269-3 Moffett Field CA 94035 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

The paper presents a modified model reference adaptive control (M-MRAC) for multi-input multi-output nonlinear dynamical systems with time varying parametric uncertainties and bounded external disturbances. It uses a prediction model to rapidly generate adaptive estimates of the system's uncertainties with adjustable errors that converge to a small neighborhood of the origin. A sufficient condition is derived to specify the region of attraction in the space of initialization errors, design parameters and external commends. The approach is applied to thrust controlled multi-rotor air vehicles operating in an urban environment. It is shown that the designed controller can provide a good tracking of a given trajectory in the unknown urban wind field, assuming that the maximum thrust generated by the rotors is known. The performance of the algorithms are demonstrated in simulations.

关键词： model reference adaptive control Air Vehicle Multirotor Euler Angles Neural Networks NASA Ames Research Center Strict Feedback Form Nonlinear Systems Aerodynamic Drag Yaw

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adaptive Trajectory Tracking control System of Two-Wheeled Robot

Adaptive Trajectory Tracking Control System of Two-Wheeled R...

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Conference on Fundamental and Applied Science for Advanced Technology (ConFAST)

作者： Uddin, Nur Univ Pembangunan Jaya Dept Informat Jl Cendrawasih Raya B7-P Ciputat 15413 Tangerang Selat Indonesia

A design of two-wheeled robot (TWR) trajectory tracking control system (TTCS) using model reference adaptive control method is presented. The TTCS is to steer the TWR track a desired trajectory. The tracking system dynamic is represented by a posture error dynamic. The posture error dynamic is derived based on the robot kinematics. Assuming small heading angles the posture error dynamic is approached by a a linear system. model reference adaptive control (MRAC) is applied in designing the TTCS based on the linear posture error dynamic. The TTCS performace is evaluated through computer simulation. The simulation results show that the designed controller is able to make the TWR track a desired trajectory.

关键词： model reference adaptive control

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SURROGATE model BASED SYSTEM IDENTIFICATION AND control OF GAS TURBINE ENGINES

SURROGATE MODEL BASED SYSTEM IDENTIFICATION AND CONTROL OF G...

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作者： SINAN EKINCI Middle East Technical University

学位级别：博士

The focus of this thesis is on small low-cost turbojet engines where the fuel flow is provided by a gear-type fuel pump rather than a more traditional fuel metering unit. The incorporation of such type of fuel flow actuation devices introduces additional nonlinearities into the modeling and control of the small turbojet engines. As an al- ternative solution, this thesis presents and applies online/offline parameter estimation and adaptive control methods to such sub-class turbojet engines. For the simulation and analysis, a high-fidelity turbojet engine model including the fuel system is de- veloped. On the other hand, a nonlinear fast engine model is proposed to capture the shaft dynamics of a small turbojet engine equipped with a gear-type fuel pump. The parameters of the fast engine model are estimated using the regression analysis. The same identification procedure is also applied to real engine test data to verify the proposed approach. Next, an online parameter estimation method using the same fast engine model structure is applied to the aero-thermal turbojet engine model. Then, the outputs of the offline and online parameter estimation approaches are compared with each other. Later, the online parameter estimation algorithm is converted to an adaptive controller known as indirect-model reference adaptive control. Last, several control and failure scenarios are applied to the aero-thermal engine model to show its main advantages over the traditional control approaches and also to reveal its further application areas.

关键词： Turbojet Engine Simulation Fast Engine model Online System Identification model reference adaptive control

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model reference Multiple-Degree-of-Freedom adaptive control with HONUs

Model Reference Multiple-Degree-of-Freedom Adaptive Control ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Bukovsky, Ivo Benes, Peter Vesely, Martin Pitel, Jan Gupta, Madan M. Czech Tech Univ Fac Mech Engn Dpt Inst & Cont Eng Prague Czech Republic Tech Univ Kosice Fac Mfg Technol Dpt Math Inf & Cybernet Bayerova 1 Presov Slovakia Univ Saskatchewan Coll Engn Intelligent Syst Res Lab Saskatoon SK Canada

ISBN: (纸本)9781509006199

This paper presents a modification of reference-model adaptive control with a layered network of higher-order neural units (HONUs) as adaptive state-feedback controllers. The degree of freedom of such neural controller is deemed here as the number of applied HONUs of a customizable polynomial order and as of their individually customizable input vectors. Furthermore, the control scheme is enhanced because potentially occurring disturbances of controlled variable can result in that the sample-by-sample adapted controllers may tend to adaptively force the plant output to merely follow the reference model output because input data are affected by the error of disturbance, while the overall control loop dynamics would be more accurately adapted if no perturbation occurs or if the reference model is actuated with actually measured variables. Furthermore, the controller weight updates usually involve some step-delayed computations that might be in fact recalculated with the latest updated weights, so the controller learning can be improved.

关键词： model reference adaptive control reference-model adaptive control multiple degree of freedom controller higher-order neural units single-input single-output

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adaptive PID control Design for Longitudinal Velocity control of Autonomous Vehicles 6

Adaptive PID Control Design for Longitudinal Velocity Contro...

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6th International Conference on control, Instrumentation and Automation (ICCIA)

作者： Simorgh, Abolfazl Marashian, Arash Razminia, Abolhassan Persian Gulf Univ Sch Engn Dept Elect Engn POB 75169 Bushehr Iran

ISBN: (纸本)9781728158150

An adaptive cruise control system is designed to control the longitudinal velocity of a vehicle based on the PID model reference adaptive control. The proposed technique seeks for an admissible throttle and braking policies that cause the longitudinal velocity of the vehicle tracks a desired behavior in the existence of realistic situations such as various road conditions and aerodynamic effects. Because of the presence of nonlinearity and time-varying conditions, the controller is modified with robust update laws to guarantee the boundedness of signals. The effectiveness of the proposed theoretical achievements is validated via high-fidelity CarSim software package by considering adverse path conditions and aerodynamic force in the opposite direction of the longitudinal velocity.

关键词： adaptive cruise control model reference adaptive control CarSim simulator PID controller Robustness

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adaptive control of large-scale soft robot manipulators with unknown payloads

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ASME 2019 Dynamic Systems and control Conference, DSCC 2019

作者： Terry, Jonathan S. Whitaker, Justin Beard, Randal W. Killpack, Marc D. Brigham Young University ProvoUT84604 United States Robotics and Dynamics Lab Department of Mechanical Engineering MAGICC Lab Department of Electrical and Computer Engineering

ISBN: (纸本)9780791859162

The compliance and other nonlinear dynamics of large-scale soft robots makes effective control difficult. This is especially true when working with unknown payloads or when the system dynamics change over time which is likely to happen for soft robots. In this paper, we present a novel method of coupling model reference adaptive control (MRAC) with model predictive control (MPC) for platforms with antagonistic pneumatic actuators. We demonstrate its utility on a fully inflatable, six degreeof-freedom pneumatically actuated soft robot manipulator that is over two meters long. Specifically, we compare control performance with no integral controller, with an integral controller, and with MRAC when running a nominal model predictive controller with significant weight attached to the end effector. © 2019 ASME.

关键词： model reference adaptive control

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