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American control Conference

作者： Zollitsch, Alexander W. Holzapfel, Florian Annaswamy, Anuradha M. Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany MIT Act Adapt Control Lab Cambridge MA USA

ISBN: (纸本)9781479986842

This paper presents an adaptively augmented LQR controller for the FSD ExtremeStar, a high agility model airplane. Uncertainties in the control effectiveness are compensated by a direct model reference adaptive controller (MRAC), which uses closed-loop reference models (CRMs). Simulation results on a nonlinear plant with actuator dynamics and sensor models indicate that the CRM adaptive controller provides additional robustness to plant uncertainties and unmodeled dynamics compared to the classical MRAC architecture, where an open-loop reference model is employed.

关键词： model reference adaptive control

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Multimode vibration supression of smart structures based on model reference adaptive control

Multimode vibration supression of smart structures based on ...

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International Conference on Electric Information and control Engineering

作者： Ma, Tianbing Du, Fei School of Mechanical Engineering Anhui University of Science and Technology Huainan China

ISBN: (纸本)9781424480395

Aiming at the stability of smart structure vibration control, a model reference adaptive control (MRAC) algorithm based on Lyapunov's second method is used to suppress vibration of a simple plate. The state equations of Piezoelectric plate first-order and second-order mode are put forward and two adjustable parameters are determined. MRAC combining feedforward and feedback control style needn't be proved stability of closed loop control system. Simulation results show that the method have good effect whether transient disturbances excitation or persistent disturbances excitation. © 2011 IEEE.

关键词： model reference adaptive control

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model reference adaptive control of Discrete Repetitive Processes in the Iteration Domain

Model Reference Adaptive Control of Discrete Repetitive Proc...

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IEEE International Conference on control Applications Part of 2010 IEEE Multi-Conference on Systems and control

作者： Moore, Kevin L. Omer, El-Sharif A. Colorado Sch Mines Div Engn Golden CO 80401 USA

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 adaptive controller 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 reference model when the plant and reference model are driven by the same input.

关键词： Repetitive processes model reference adaptive control iteration domain iterative learning control

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model reference fractional order control using type-2 fuzzy neural networks structure: Implementation on a 2-DOF helicopter

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NEUROCOMPUTING 2016年 193卷 268-279页

作者： Khakshour, Alireza Jalalian Khanesar, Mojtaba Ahmadieh Semnan Univ Fac Eectr & Comp Engn Semnan Iran

In this paper, an adaptive learning algorithm is proposed for an interval type-2 fuzzy fractional order controller. The use of fractional order controller adds more degrees of freedom which makes it possible to obtain superior performance in comparison with ordinary differential controllers. A fractional order reference model is used to define the desired trajectory of the nonlinear dynamic system. The structure of the system is based on the feedback error learning method. The stability of the adaptation laws is proved using Lyapunov theory. In order to test the efficiency and efficacy of the proposed learning and the control algorithm, the trajectory tracking problem of a magnetic rigid spacecraft is studied. The simulation results show that the proposed control algorithm outperforms the case when ordinary differential fuzzy controller is used. Furthermore, it is shown that it is possible to define a master chaotic system as a reference model and obtain synchronization between the two chaotic systems using the proposed approach. In the simulation part the synchronization between two Duffing-Holmes system is also achieved. In order to show the implementability of the proposed method, it is used to control a real time laboratory setup 2-DOF helicopter. It is shown that the proposed fractional order controller can be implemented in a low cost embedded system and can successfully control a highly nonlinear dynamic system. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Fractional order control Type-2 fuzzy neural networks model reference adaptive control Feedback error earning

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Solar pressure variable structure model reference adaptive spacecraft attitude control in elliptic orbits

Solar pressure variable structure model reference adaptive s...

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AIAA Guidance, Navigation, and control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

作者： Lee, Keum W. Singh, Sahjendra N. Division of Electronic Information and Communication Catholic Kwandong University GangnungGangwon210-701 Korea Republic of Department of Electrical and Computer Engineering University of Nevada Las Vegas Las VegasNV89154 United States

ISBN: (纸本)9781510801097

Based on the variable structure model reference adaptive control (VS-MRAC) theory, a new adaptive control system for the attitude control of satellites in elliptic orbits with uncertain dynamics, using solar radiation pressure (SRP), is derived. The nonaffine-incontrol nonlinear spacecraft model includes the gravity gradient torque, the control torque produced by two solar flaps, and external time-varying disturbance torque. The objective here is to derive a control law for the pitch attitude control using the pitch angle and pitch rate feedback. For the trajectory tracking of the pitch angle, a variable structure model reference adaptive attitude control system, including two relays and linear filters, is designed. Although, the modulation functions of the relays are functions of certain auxiliary signals, for simplicity in implementation, these functions are assigned constant values. Simulation results are presented which show that the simplified VS-MRAC law accomplishes precise attitude control of the spacecraft, despite unmodelled (unstructured) nonlinearities, parameter uncertainty and external disturbance torque in the model. © 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.

关键词： model reference adaptive control

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Dynamics and Precision control of Uncertain Tumbling Multibody Systems

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第5期40卷 1176-1190页

作者： Koganti, Prasanth B. Udwadia, Firdaus E. Univ Southern Calif Dept Aerosp & Mech Engn Los Angeles CA 90089 USA Univ Southern Calif Aerosp & Mech Engn Civil Engn Math & Informat & O Los Angeles CA 90089 USA

This paper deals with the precision control of tumbling multibody systems with uncertainties present in the descriptions of their mathematical models. A generic tumbling multibody system consisting of a rigid body with internal degrees of freedom is used. A two-step control methodology is developed. First, a nominal system is conceived that best approximates the actual physical system. An analytical dynamics-based control methodology is used to obtain the nominal control force that ensures that this nominal system satisfies the control requirements. This is done using the control methodology proposed by Udwadia ("Optimal Tracking control of Nonlinear Dynamical Systems," Proceedings of the Royal Society of London, Series A: Mathematical and Physical Sciences, Vol. 464, 2008, pp. 2341-2363). Second, an additional compensating generalized control force is designed to ensure that the actual controlled (uncertain) system tracks the trajectories of the nominal system so that the control requirements are also met by the actual system. This paper deals primarily with the second step and its combination with the first. Uncertainties in both the description of the system as well as the forces acting on it are considered. No linearizations or approximations are made in either of the steps, and the full nonlinear dynamical system is considered. The efficacy of the control methodology is demonstrated by applying it to two tumbling uncertain multibody dynamical systems.

关键词： Multibody System model reference adaptive control Mathematical models Quaternions Numerical Integration Attitude control Variable Structure control Unmanned Aerial Vehicle Liquid Sloshing Kalman Filter

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An Active Damping Scheme Based on a Second Order Resonant Integrator for LCL-Type Grid-Connected Converters

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JOURNAL OF POWER ELECTRONICS 2017年第4期17卷 1058-1070页

作者： Chen, Chen Xiong, Jian Zhang, Kai Huazhong Univ Sci & Technol State Key Lab Adv Electromagnet Engn & Technol Sch Elect & Elect Engn Wuhan Hubei Peoples R China Huazhong Univ Sci & Technol Wuhan Hubei Peoples R China

This paper proposes a novel active damping scheme to suppress LCL-filter resonance with only grid-current feedback control in grid-connected voltage-source converters. The idea comes from the concept of the model reference adaptive control (MRAC). A detailed theoretical derivation is given, and the effectiveness of this method is explained based on its physical nature. According to the control structure of this method, the active damping compensator, which is essentially a second order resonant integrator (SORI) filter, provides an effective solution to damp LCL resonance and to eliminate the need for additional sensors. Compared with extra feedback methods, the cost and complexity are reduced. A straightforward tuning procedure for the active damping method has been presented. A stability analysis is illustrated in the discrete domain while considering a one-step delay. Finally, experimental results are presented to validate the analysis and to demonstrate the good performance of the proposed method.

关键词： Grid-connected converter LCL filter model reference adaptive control Resonance damping

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Comparison between model reference discrete time indirect and direct adaptive controls

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Procedia Manufacturing 2018年 22卷 444-454页

作者： Katalin György László Dávid Department of Electrical Engineering Faculty of Technical and Human Sciences Sapientia University Tîrgu Mureş România

The discrete time model reference adaptive control (MRAC) techniques have some important properties. They can be used successfully to the control of different type of Single Input and Single Output (SISO) systems: Linear Time Invariant (LTI) systems with unknown parameters and Linear Parameter Varying (LPV) systems. This method can be considered also as a nonlinear control design, where the system parameters will be updated in each iteration.

关键词： model reference adaptive control direct indirect control discrete time control system identification forgetting factor covariance

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adaptive Disturbance-Based High-Order Sliding-Mode control for Hypersonic-Entry Vehicles

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第3期40卷 521-536页

作者： Sagliano, Marco Mooij, Erwin Theil, Stephan German Aerosp Ctr DLR Nav & Control Dept D-28359 Bremen Germany Delft Univ Technol Astrodynam & Space Miss Dept NL-2629 HS Delft Netherlands

In this paper, an adaptive, disturbance-based sliding-mode controller for hypersonic-entry vehicles is proposed. The scheme is based on high-order sliding-mode theory, and is coupled to an extended sliding-mode observer, able to reconstruct online the disturbances. The result is a numerically stable control scheme, able to adapt online to reduce the error in the presence of multiple uncertainties. The transformation of a high-order sliding-mode technique into an adaptive law by using the extended sliding-mode observer is, together with the multi-input/multi-output formulation for hypersonic-entry vehicles, the main contribution of this paper. The robustness is verified with respect to perturbations in terms of initial conditions, atmospheric density variations, as well as mass and aerodynamic uncertainties. Results show that the approach is valid, leading to an accurate disturbance reconstruction, to a better transient, and to good tracking performance, improved of about 50% in terms of altitude and range errors with respect to the corresponding standard sliding-mode-control approach.

关键词： model reference adaptive control Atmospheric Density Lift Coefficient Aerodynamic Coefficients Flight Path Angle Sharp Edge Flight Experiment Nonlinear Feedback Thermal Protection System Dynamic Pressure German Aerospace Center

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Backup controller for Large Transport Aircraft with Insufficient Natural Stability

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第3期40卷 666-679页

作者： Wang, Mengmeng Zhang, Shuguang Holzapfel, Florian Zhang, Fubiao Beihang Univ Sch Transportat Sci & Technol Beijing 100191 Peoples R China Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

For today's commercial airliners, modern fly-by-wire systems provide excellent handling qualities and disturbance rejection capability, which significantly reduce pilot workload during manual flight, thus potentially increasing flight safety. However, in case of severe system failures or unexpected dynamics, many systems immediately degrade to direct mode, where the expected functions and protections degrade or even disappear. This paper assesses whether, with only pitch rate measurable, an emergency longitudinal controller built for a large transport aircraft featuring unstable pitch-up nonlinearities can provide acceptable handling qualities. A requirement-driven, sequential synthesis controller design process is developed, integrating quantitative feedback theory and L-1 piecewise constant output-feedback control theory. The quantitative feedback technique is used to generate a fixed-gain controller to avoid airspeed or dynamic pressure based gain scheduling and provide level 1 handling qualities without existence of the pitch-up nonlinearity. L-1 augmentations are further introduced to eliminate the performance degradation caused by the pitch-up nonlinearity. The fixed-gain controller and the L-1 controllers perform satisfactorily regarding performance and robust metrics within the entire envelope.

关键词： Transport Aircraft model reference adaptive control Feedback control Flying Wires Handling Qualities Pilot True Airspeed Flight Safety Airliner Dynamic Pressure

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