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检索条件"主题词=Model Reference Adaptive Control"

共 1543 条记录，以下是71-80 订阅

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model reference adaptive control of a Quadrotor UAV based on RBF Neural Networks

Model Reference Adaptive Control of a Quadrotor UAV based on...

引用

IEEE CSAA Guidance, Navigation and control Conference (CGNCC)

作者： Liu, Mengqian Dong, Xiwang Li, Qingdong Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China

ISBN: (纸本)9781538611715

In this paper, a model reference control method based on RBF neural networks is applied to attitude control of quadrotor. The model of a quadrotor is constructed and simplified to obtain the reference model in the same order as the plant. The RBF is trained by using the gradient descent method. Through simulation experiments, MRAC based on RBF has presented good tracking performance on the nonlinear quadrotor system with unknown and changing parameters.

关键词： model reference adaptive control

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model reference adaptive control Using a Neural Compensator to Drive an Active Knee Joint Orthosis 14

Model Reference Adaptive Control Using a Neural Compensator ...

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14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR)

作者： Daachi, B. Madani, T. Daachi, M. E. Djouani, K. CNRS AIST JKL Tsukuba Ibaraki Japan Univ Paris Est Creteil LISSI Lab Vitry Sur Seine France Univ BBA Algiers Algeria FSATI TUT Pretoria South Africa

ISBN: (纸本)9781479918089

This paper presents an adaptive control approach of an actuated orthosis for the human knee joint rehabilitation. The objective of the proposed technique is to help patients to follow the guidelines of movement imposed by the therapists in terms of position and velocity. This is achieved by a system consisting of a mechanical orthosis actuated by an electrical driven motor. No needed prior knowledge concerning patients (height, weight, etc.). To prove the stability of the system, composed of the shank and the orthosis, in closed loop, we consider known its dynamic model structure. A Radial-Basis-Function Neural Network (RBFNN) is used to approximate online, a part of unknown dynamics and other unmodeled effects. In the goal to avoid abrupt transitions that can harm the wearer, we have used a reference model that can be constructed by an expert. The stability study conducted according to Lyapunov's approach guarantees that the proposed control remains stable even in the presence of bounded or assistive disturbances. The good performances of the proposed controller allow us to conclude with its effectiveness for trajectory tracking. In this work and for safety reasons, an adequate dummy has been used to perform real tests and detect any possible anomaly.

关键词： Orthotic Devices adaptive control reference model model reference adaptive control Knee Joint stability study trajectory tracking System stability

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model-reference adaptive-control FOR NONMINIMUM-PHASE SYSTEM BY 2-DELAY FEEDBACK

MODEL-REFERENCE ADAPTIVE-CONTROL FOR NONMINIMUM-PHASE SYSTEM...

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4TH IFAC Symposium on adaptive Systems in control and Signal Processing 1992

作者： MIYASATO, Y INST STAT MATH MINATO KUTOKYO 106JAPAN

ISBN: (纸本)0080417175

In most of the studies of model reference adaptive control (MRAC), the controlled systems are confined to minimum phase systems, since the MRAC techniques utilize the control laws involving cancellations of zeros of the systems. It makes the scope of application of MRAC too restrictive, for non-minimum phase discrete-time systems can often appear. In this paper, we propose a design method of model reference adaptive control systems for non-minimum phase systems by utilizing 2-delay input control. In our method, the poles and zeros of the controlled systems are relocated by the 2-delay feedback control laws with 2-delay sampling. Since no cancellation of zeros occurs, the stable model reference adaptive control systems can be constructed even if unstable zeros exist. Some simulation results for non-minimum phase systems also shown the effectiveness of the proposed method.

关键词： model reference adaptive control NONMINIMUM PHASE SYSTEM 2-DELAY FEEDBACK DIGITAL control MULTIRATE SAMPLING

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model reference adaptive control for Mine Paste Backfill Process 33

Model Reference Adaptive Control for Mine Paste Backfill Pro...

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33rd Chinese control and Decision Conference (CCDC)

作者： Lv, Hao Gao, Xuehui Li, YuanQi Yan, Dongwen Shandong Univ Sci & Technol Sch Intelligent Equipment Tai An 271019 Shandong Peoples R China

ISBN: (纸本)9781665440899

In the actual paste backfill process, there are many uncertain factors to degrade the backfill efficiency. Frequent production changes and working conditions caused the controlled object to be difficult described by an accurate mathematical model. Then, a lot of conventional control effects are unsatisfactory. In this paper, based on the established paste filling process model of our previous work, a model reference adaptive control is proposed, and its stability is verified by the Lyapunov stability theory. The proposed method can adjust the controller parameters to adapt to the parameter changes online, so thatthe tracking error of the system can gradually converge to zero by the proposed model reference adaptive control with the condition of model uncertainty or external disturbance. The proposed scheme is simulated by MATLAB, and the simulation results show that the proposed control strategy has good control performance.

关键词： paste backfill process model model reference adaptive control Lyapunov

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model reference adaptive control Design For Helicopters Using Gain Scheduled reference models 17

Model Reference Adaptive Control Design For Helicopters Usin...

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17th IEEE International Carpathian control Conference (ICCC)

作者： Ertugrul, Taner Adli, Mehmet Arif Salamci, Metin U. Gazi Univ Dept Mech Engn Ankara Turkey

ISBN: (纸本)9781467386067

Application and adaptation of different types of controllers to helicopters become more important in terms of stability and mission. As the helicopters are very dynamic vehicles and there are more parameters than any other dynamical system to consider its stability, control and mode shift during hover, forward flight, and maneuvers, their controller design become a challenging problem for the designers. In this paper, a model reference adaptive control design (MRAC) method is proposed such that the reference model is a helicopter dynamics which is pre-controlled ( stable) one by means of gain scheduling technique. The helicopter, whose dynamics are not known exactly, is considered to be the plant in the MRAC design and its outputs are regulated to follow the response of the reference helicopter model. The success of the proposed control approach is illustrated by means of simulations in the MATLAB. SIMULINK. environment.

关键词： Helicopter model reference adaptive control Nonlinear controller

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model reference adaptive control with Inverse Compensation Applied to a pH Plant

Model Reference Adaptive Control with Inverse Compensation A...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Vale, Marcelo R. B. G. Fonseca, Daniel G. V. Pereira, Kalinne R. C. Maitelli, Andre L. Araujo, Fabio M. U. Casillo, Danielle S. S. Univ Fed Rio Grande do Norte Dept Comp Eng & Automat Automat Lab Oil BR-59072970 Natal RN Brazil Rural Fed Univ Semi Arid Dept Exact Sci & Nat Mossoro RN Brazil

ISBN: (纸本)9781424463916

In this paper, the model reference adaptive control (MRAC) with dead-zone compensation is proposed to improve two MRAC variations: MRAC with fixed adaptive gain (gamma) and MRAC with variable gamma based on eta-adaptive optimization algorithm. The proposed MRAC is often used to compensate the dead-zone effect on valve that is not taken into consideration in the usual MRAC. It was also implemented a compensation in inverse dynamic on dead-zone. The nonlinearity inverse model is estimated by method of Recursive Least Squares (RLS). All comparisons and validations were made based on results collected from a simulation and developed in accordance with two models: a simplified Hammerstein model and a phenomenological model of Wiener. To verify the proposed controllers with inverse compensation performance we applied to a pH neutralization process. Simulations have been presented to confirm the effectiveness of the technique.

关键词： Î·-adaptive optimization Hammerstein model dead-zone compensation inverse compensation least squares approximations model reference adaptive control model reference adaptive control systems optimisation pH pH neutralization process pH plant recursive least squares

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model reference adaptive control for Time-Delay Systems 8

Model Reference Adaptive Control for Time-Delay Systems

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Zhang, Zhengqiang Guo, Chao Qufu Normal Univ Sch Engn Rizhao 276826 Peoples R China Qufu Normal Univ Inst Automat Qufu 273165 Peoples R China

ISBN: (纸本)9781538670576

This paper restudies output feedback MRAC for a class of SISO systems with a known state time-delay. The general solution in the generalized inverse matrix is used to relax the premise hypothesis, which stated that the first o components of the state of the nonminimal representation of the reference model is the state of the reference model. A special L-K functional with a adjustable parameter is constructed. It is shown that the closed-loop system is stable in the sense that all closed-loop signals are bounded.

关键词： closed loop systems delay systems feedback Lyapunov methods model reference adaptive control systems single-input single-output systems (control) stability model reference adaptive control Delay systems Closed loop systems Lyapunov methods reference model Feedback single input single output systems adjustable parameter adaptive control

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model reference adaptive control of unknown control gain and asymmetrical static output constraints 41

Model reference adaptive control of unknown control gain and...

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第41届中国控制会议

作者： Penghao Chen Fei Liu Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The model reference adaptive control(MRAC) issue is addressed for a class of first-order linear time-invariant system(LTIS) with unknown control gain and asymmetric static output *** output constraints is efficiently handled by incorporating a barrier Lyapunov function(BLF).Completely unknown control gain is handled based on the Nussbaum *** the aid of Lyapunov synthesis method,the adaptive laws of unknown parameters are *** the properties of BLF and Barbalat's Lemma,it is proved that the tracking error converges asymptotically to zero while the output satisfies the *** comparison of the two simulation results is employed to demonstrate the efficacy of the suggested MRAC algorithm.

关键词： model reference adaptive control Asymmetrical static output constraints Barrier Lyapunov function Unknown control gain Nussbaum function

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model reference adaptive control for the inclined channel stablization loop of missile

Model reference adaptive control for the inclined channel st...

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2021 International Conference on control Theory and Applications, ICoCTA 2021

作者： Lu, Juanzhi Liu, Lin Dong, Shimeng Zhang, Xiaoming Xi'An Modem Control Technology Research Institute 710065 China

This paper, A model reference adaptive control method based Lyapunov stability theory is proposed, because it is difficult for the control of inclined channel of missile, due to large disturbance and the dramatic change of missile parameter during the flight. The core strategy is that the real system can be adjusted automatically and in real time to be consistent with the reference model as far as possible, when the output of the real system is different from that of the reference model, so that the real system can run in the best state, this control method can well adapt to the changes of control parameters and external environment. The rationality and validity of the method has been verified by mathematical simulation. © Published under licence by IOP Publishing Ltd.

关键词： model reference adaptive control

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model reference adaptive control with Proportional Integral Adaptation Law

Model Reference Adaptive Control with Proportional Integral ...

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European control Conference (ECC)

作者： Weise, Christoph Kaufmann, Tom Reger, Johann Tech Univ Ilmenau Control Engn Grp POB 10 05 65 D-98684 Ilmenau Germany

ISBN: (纸本)9798331540920;9783907144107

In this contribution we extend the classical update law of the certainty equivalence based (indirect) model reference adaptive control (MRAC) with an additional feedthrough error term. We use a linear state-space representation of the parameter estimation error in order to construct a Lyapunov function. Without unstructured uncertainties, we can show asymptotic stability of the closed loop. Even for relatively high adaptation gains the algorithm can reduce the oscillations of the state variables. In case of unstructured input uncertainties, the additional term reduces the model following error drastically without increasing the control signal for low frequency unstructured uncertainties. For the simplified pure linear case we analyze the effect of the additional proportional error feedthrough in the adaptation law showing its similarity to a disturbance observer. As a simulation example the wing-rock dynamics are reconsidered.

关键词： model reference adaptive control

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