This paper presents a model reference adaptive control design approach for a class of nonlinear systems. A nonlinear referencemodel is considered in the design of adaptivecontrol for the nonlinear system. The design...
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ISBN:
(纸本)9781479973705
This paper presents a model reference adaptive control design approach for a class of nonlinear systems. A nonlinear referencemodel is considered in the design of adaptivecontrol for the nonlinear system. The design approach is based on successive linear time varying (LTV) approximations of the nonlinear referencemodel and the system. The convergence proof of the responses of successive approximations to the response of nonlinear system is given. Provided that there exists an adaptivecontrol for the approximated system, the model reference adaptive control is then designed for LTV systems whose responses converge to the response of the nonlinear system. The proposed model reference adaptive control approach is illustrated with an example which shows the effectiveness of the method.
The paper deals with the design of model reference adaptive control and identification for nonlinear plants. Two methods are presented. The first method uses the error-equation approach and assumes the same dimensiona...
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ISBN:
(纸本)0080417175
The paper deals with the design of model reference adaptive control and identification for nonlinear plants. Two methods are presented. The first method uses the error-equation approach and assumes the same dimensionality of both systems;plant and the referencemodel. This assumption is relaxed in the second method which is based on the augmentation of the state-space and the stabilization with respect to the subset of variables. In neither method is the plant linearized.
This paper provides an alternative approach to solve model reference adaptive control problems of uncertain processes. Plants in this manuscript are described as polytopic LPV systems in fixed polytopes defined by con...
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ISBN:
(纸本)9780780397989
This paper provides an alternative approach to solve model reference adaptive control problems of uncertain processes. Plants in this manuscript are described as polytopic LPV systems in fixed polytopes defined by convex hulls of extreme systems, and uncertainties of system parameters correspond to those extreme systems. It is shown that control inputs are composed of weighted sums of control signals for each extreme systems, and that those weights are tuned adaptively. The stabilizing signals are also added to stabilize plants and to regulate the effect of time-varying components in uncertain processes. Those additional signals are derived as solutions of nonlinear H-infinity control problems for certain virtual systems.
A new approach to design model reference adaptive control (MRAC) for Multi Input Multi Output (MIMO) nonlinear systems is presented. First a nonlinear referencemodel system is considered whose nonlinear dynamics is c...
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ISBN:
(纸本)9781479973705
A new approach to design model reference adaptive control (MRAC) for Multi Input Multi Output (MIMO) nonlinear systems is presented. First a nonlinear referencemodel system is considered whose nonlinear dynamics is controlled by optimal control using Successive Approximation Approach (SAA). In the second step, nonlinear plant dynamics which may have uncertain parameters or unmodeled dynamics is controlled by using MRAC based on recursive approximations of referencemodel at each iteration. A two-link manipulator model is used to demonstrate the efficiency of the proposed method.
model reference adaptive control (MRAC) is known as a proper method to handle uncertainties of systems and achieve precision command tracking. However, actuator saturation of aircraft limits the ability of the adaptiv...
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ISBN:
(纸本)9789881563958
model reference adaptive control (MRAC) is known as a proper method to handle uncertainties of systems and achieve precision command tracking. However, actuator saturation of aircraft limits the ability of the adaptivecontroller in practice. In this paper, a modified automatic control architecture is presented for a class of aircraft in the presence of input saturation. The proposed controller is based on model reference adaptive control augmented with a modem anti-windup (AW) compensator. First, a standard MRAC with integral state feedback is described. Second, a Riccati-based AW compensator is employed to solve the input saturation problem. Finally, the control technique is applied to control the vertical acceleration of the aircraft with significant uncertainty in control effectiveness and matched uncertainties. Simulation results verify the performance of proposed method.
Using the developed hardware-in-the-loop simulation platform for weapon system under impact load excitation and a novel large-scale single-ended MR damper without the accumulator, impact tests for the special designed...
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ISBN:
(纸本)9783037851975
Using the developed hardware-in-the-loop simulation platform for weapon system under impact load excitation and a novel large-scale single-ended MR damper without the accumulator, impact tests for the special designed long-stroke magnetorheological recoil damper were done and its dynamic performances under different impact loads and input current were examined in this paper. model of damping force was established by using the model reference adaptive control method. Its dynamic performances of MR damper under model reference adaptive control strategies were analyzed by numerical simulations and tests. Experimental results show that the model reference adaptive control method could reduce its peak value of recoil damping force to 27.33% and its peak value of stroke to 48.75%, and its adjustability of damping force could be well applied for its impact resistance design of gun recoil mechanism.
In this paper, a control architecture merging a reference Governor and a model reference adaptive control law is tested on a high-fidelity Simulink model of a Parrot Bebop 2 Drone. This system is considered to be subj...
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ISBN:
(数字)9781624107115
ISBN:
(纸本)9781624107115
In this paper, a control architecture merging a reference Governor and a model reference adaptive control law is tested on a high-fidelity Simulink model of a Parrot Bebop 2 Drone. This system is considered to be subject to velocity constraints, and the flight simulations are performed in the presence of simulated matched uncertainties to recreate the typical uncertain environment in which a drone operates. The proposed control framework allows for precise tracking and constraints enforcement despite the uncertainties and the perturbations acting on the system. The novelty of the approach consists of exploiting the adaptive law performance to build a robust reference Governor with limited conservatism. As a result, larger uncertainties can be handled, and the computational complexity of the governor's optimization problem is limited compared to the standard robust reference Governor strategy.
A model reference adaptive control is implemented for a rigid launching vehicle and its robustness is tested for various scenarios, including the failure ones. Then the bending modes are included, as the flexibility o...
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ISBN:
(纸本)9781728126036
A model reference adaptive control is implemented for a rigid launching vehicle and its robustness is tested for various scenarios, including the failure ones. Then the bending modes are included, as the flexibility of the launching vehicle can cause instability. The results show that the model reference adaptive control can ensure a good tracking and performance of the Vega launch vehicle, guaranteeing stability.
This paper develops a new model reference adaptive control for multi-variable systems with input disturbance. The controller structure is established by using reduced-order state observer and the direct estimate of no...
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ISBN:
(纸本)9798350373707;9798350373691
This paper develops a new model reference adaptive control for multi-variable systems with input disturbance. The controller structure is established by using reduced-order state observer and the direct estimate of nominal controller parameters. The output matching condition, new tracking error, estimate error as well as adaptive properties are developed depending on the available signals, rather than the state or output signals in the existing schemes. The new output matching condition is crucial to the analysis of model reference adaptive control output tracking. With this presented control design, the desired system properties are achieved including system stability and output tracking, and the simulation results indicate the disturbance rejection ability of the developed scheme.
Tail-sitter unmanned aerial vehicles (UAVs) merge the ability of multi-rotor aircraft, such as quadcopters, to take off, hover, and land vertically with the long endurance of fixed-wing aircraft. Therefore, tail-sitte...
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ISBN:
(纸本)9781624106316
Tail-sitter unmanned aerial vehicles (UAVs) merge the ability of multi-rotor aircraft, such as quadcopters, to take off, hover, and land vertically with the long endurance of fixed-wing aircraft. Therefore, tail-sitter UAVs can be employed in complex missions such as door-to-door payload delivery over extended regions. However, these vehicles' dynamics are nonlinear, and linear approximations poorly capture their behavior during the transition between vertical and horizontal flight regimes. Furthermore, these UAVs' aerodynamic coefficients are usually difficult to measure in all flight regimes. Therefore, designing controllers for tail-sitter UAVs is still an open problem. model reference adaptive control (MRAC) for prescribed performance allows the user to impose a priori both bounds on the trajectory tracking error and the rate of convergence of the tracking error without modifying the referencemodel or employing estimators. In this paper, MRAC for prescribed performance is extended for the first time to pursue the output signal tracking problem despite matched and parametric uncertainties in the plant's dynamics. Successively, this adaptivecontrol technique is applied to design a controller for the longitudinal dynamics of a class of tail-sitter UAVs, namely quad-biplanes, and enforce user-defined performance specifications despite modeling uncertainties in the vehicle's aerodynamic properties. Numerical simulations validate the applicability of the proposed control strategy and its advantages over classical MRAC.
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